CN111380457B - Positioning method and system for material tray - Google Patents
Positioning method and system for material tray Download PDFInfo
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- CN111380457B CN111380457B CN201811639884.XA CN201811639884A CN111380457B CN 111380457 B CN111380457 B CN 111380457B CN 201811639884 A CN201811639884 A CN 201811639884A CN 111380457 B CN111380457 B CN 111380457B
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- 239000000463 material Substances 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 15
- 230000000007 visual effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
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Classifications
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention discloses a positioning method and a positioning system for a material tray, wherein the positioning method comprises the following steps: s1, acquiring a tray image; s2, acquiring each tray cell and the center point coordinate of each tray cell in the tray image, and positioning each tray cell according to the center point coordinate; s3, grabbing the target product in the material tray grids according to each located material tray grid. According to the invention, all products of the material tray are positioned at one time, so that the robot can be guided to grasp the target products continuously and directly for many times 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 automatic control, in particular to a positioning method and system of a material tray.
Background
With the increasing development of the automation level of the chinese manufacturing industry, many factories now use robots to replace manpower in many manufacturing links. In the process of using robots to cooperate with actual production, a visual positioning Mark point (position identification point) is generally used to guide the robots to grasp a target product on a take-out tray at the Mark point position.
However, after the vision positioning guide robot is used for positioning once, the target product can be grasped once, if other products on the material taking disc need to be grasped, the vision positioning guide 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 guiding robot is used for positioning to grasp a target product on a material taking disc, the target product can be grasped once in positioning, the operation is complicated, the production efficiency is low and the like, and the invention aims to provide a positioning method and a positioning system for the material taking disc.
The invention solves the technical problems by the following technical scheme:
the invention provides a positioning method of a material tray, which comprises the following steps:
s1, acquiring a tray image;
s2, acquiring each tray cell and the center point coordinate of each tray cell in the tray image, and positioning each tray cell according to the center point coordinate;
the center point coordinates are used for representing the position of a target product in each tray lattice on the tray;
s3, grabbing the target product in the material tray grids according to each located material tray grid.
Preferably, the step of acquiring coordinates of each tray cell and a center point of each tray cell in the tray image specifically includes:
s21, acquiring each tray cell in the tray image;
wherein the tray cells in the tray are arranged in a rectangular array;
s22, 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;
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;
s23, randomly selecting the center point coordinate of one tray grid as a reference point, and acquiring the center point coordinates of all the tray grids except the reference point according to the reference point, the transverse center distance and the longitudinal center distance.
Preferably, step S22 specifically includes:
selecting a first tray lattice and a last tray lattice of any row in a rectangular array, and acquiring 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 coordinate (x 1, y 1) of the first tray grid of any row, the center point coordinate (x 2, y 2) of the last tray grid of any row, the rectangular array is m x n, m represents the number of rows of the matrix array, and n represents the number of columns of the matrix array;
selecting a first tray lattice and a last tray lattice of any column in a rectangular array, and acquiring the longitudinal center distance, wherein a specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein column distance represents the longitudinal center distance between two adjacent tray cells, the center point coordinates (x 3, y 3) of the first tray cell of any one column, and the center point coordinates (x 4, y 4) of the last tray cell of any one column.
Preferably, step S23 specifically includes:
selecting the center point coordinates of the tray grids of the first row and the first column in the rectangular array as reference points, and acquiring the center point coordinates of all the tray grids 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)]
wherein the coordinates of the center point of the tray cells in the first row and the first column in the rectangular array are (X, Y), M represents the coordinates of the center point of all tray cells, i=1, 2, …, n, j=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 an image of the material taking disc;
the coordinate acquisition module is used for acquiring coordinates of each tray lattice and a central point of each tray lattice in the tray image and calling the positioning module;
the positioning module is used for positioning each tray grid according to the center point coordinates;
the center point coordinates are used for representing the position of a target product in each tray lattice on the tray;
the grabbing module is used for grabbing the target product in the material tray grids according to each located material 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 acquisition unit is used for acquiring each tray grid in the tray image;
wherein the tray cells in the tray are arranged in a rectangular array;
the transverse center distance acquisition unit is used for arbitrarily 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 arbitrarily 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 center point coordinate acquiring unit is used for arbitrarily selecting the center point coordinate of one tray grid as a reference point, and acquiring the center point coordinates of all the tray grids except the reference point according to the reference point, the transverse center distance and the longitudinal center distance.
Preferably, the lateral center distance acquiring unit is configured to select a first tray cell and a last tray cell of any one row in the rectangular array, and acquire the lateral 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 coordinate (x 1, y 1) of the first tray grid of any row, the center point coordinate (x 2, y 2) of the last tray grid of any row, the rectangular array is m x n, m represents the number of rows of the matrix array, and n represents the number of columns of the matrix array;
the longitudinal center distance obtaining unit is used for selecting a first tray lattice and a last tray lattice of any column in the rectangular array to obtain the longitudinal center distance, and the specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein column distance represents the longitudinal center distance between two adjacent tray cells, the center point coordinates (x 3, y 3) of the first tray cell of any one column, and the center point coordinates (x 4, y 4) of the last tray cell of any one column.
Preferably, the center point coordinate acquiring unit is configured to select a center point coordinate of a tray cell of a first row and a first column in a rectangular array as a reference point, and acquire center point coordinates of all tray cells except the reference point according to the reference point, the transverse center distance and the longitudinal center distance, where a specific calculation formula is as follows:
M＝[X+RowDistance*(i-1)，Y+ColumnDistance*(j-1)]
wherein the coordinates of the center point of the tray cells in the first row and the first column in the rectangular array are (X, Y), M represents the coordinates of the center point of all tray cells, i=1, 2, …, n, j=1, 2, …, M.
The invention has the positive progress effects that:
according to the invention, all products of the material tray are positioned at one time, so that the robot can be guided to grasp the target products continuously and directly for many times 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 flow chart of a positioning method of a tray according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a tray in embodiment 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 schematic block diagram of a positioning system of a tray according to embodiment 4 of the present invention;
fig. 6 is a schematic block diagram of a positioning system of a tray according to embodiment 5 of the present invention.
Detailed Description
The invention is further illustrated by means of 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, acquiring a tray image;
in the actual production process, a top camera can be arranged on the robot to shoot and collect the corresponding tray image of the whole tray.
S102, acquiring each tray cell and the center point coordinate of each tray cell in the tray image, and positioning each tray cell according to the center point coordinate;
the center point coordinates are used for representing the positions of target products in each tray lattice on the tray;
s103, grabbing target products in the material taking tray according to each positioned material taking tray.
Specifically, as shown in fig. 2, a tray is provided 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 200ms. If the visual positioning guiding robot in the prior art is adopted to capture the target product only once after capturing one-time positioning, the corresponding visual processing time is = (100+200) ×9=2700 ms; by adopting the positioning method of the tray in the embodiment, all the tray grids on the whole tray can be photographed at one time and all the target products on each 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 compared with the prior art, the processing time is effectively saved, and the working efficiency is improved.
According to the embodiment, all products of the tray are positioned at one time, and the robot can be guided to grasp target products continuously and directly for many times according to positioning, so that positioning time is saved, and production efficiency is improved effectively and simply.
Example 2
As shown in fig. 3, this embodiment is further improved on the basis of embodiment 1, specifically:
the step S102 specifically includes:
s1021, acquiring each tray grid in the tray image;
wherein, the tray grids in the tray are arranged in a rectangular array shape;
meanwhile, the horizontal 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 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;
randomly selecting two material tray lattices in the longitudinal direction of the rectangular array, and acquiring the longitudinal center distance between two adjacent material tray lattices according to the center point coordinates of the two material tray lattices;
s1023, randomly selecting the center point coordinate of one tray grid as a reference point, and acquiring the center point coordinates of all tray grids except the reference point according to the reference point, the transverse center distance and the longitudinal center distance.
S1024, positioning each tray lattice according to the coordinates of the central points.
According to the embodiment, the transverse center distance and the longitudinal center distance between two adjacent material tray grids are calculated respectively through each material tray grid arranged in the shape of the rectangular array, the center point coordinate of each material tray grid is obtained through arbitrarily selecting the center point coordinate of one 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 are positioned at one time, a robot can be guided to grasp target products continuously and repeatedly and directly according to positioning, positioning time is saved, and the operation is simple and production efficiency is effectively improved.
Example 3
As shown in fig. 4, this embodiment is further improved on the basis of embodiment 2, specifically:
the step S1022 specifically includes:
s10221, selecting a first tray lattice and a last tray lattice of any row in a rectangular array, and obtaining a transverse center distance between two adjacent tray lattices, 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 coordinate (x 1, y 1) of the first tray grid of any row, the center point coordinate (x 2, y 2) of the last tray grid of any row, the rectangular array is m x n, m represents the number of rows of the matrix array, and n represents the number of columns of the matrix array;
selecting a first tray lattice and a last tray lattice of any column in a rectangular array, and acquiring a longitudinal center distance between two adjacent tray lattices, wherein a specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein column distance represents the longitudinal center distance between two adjacent tray cells, the center point coordinates (x 3, y 3) of the first tray cell of any one column, and the center point coordinates (x 4, y 4) of the last tray cell of any one column.
The step S1023 specifically includes:
s10231, selecting the center point coordinates of the tray grids of the first row and the first column in the rectangular array as reference points, and acquiring the center point coordinates of all the tray grids 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)]
wherein the coordinates of the center point of the tray cells in the first row and the first column in the rectangular array are (X, Y), M represents the coordinates of the center point of all tray cells, i=1, 2, …, n, j=1, 2, …, M.
In this embodiment, for each tray cell set in the shape of the rectangular array, the lateral center distance between two adjacent tray cells is calculated by selecting the first tray cell and the last tray cell of any row in the rectangular array; the first tray grid and the last tray grid of any row in the rectangular array are selected to calculate the longitudinal center distance between two adjacent tray grids, the center point coordinates of the tray grids of the first row and the first row in the rectangular array are selected as reference points to acquire the center point coordinates of each tray grid, and each tray grid is positioned according to the center point coordinates of each tray grid, so that all products of the tray are positioned at one time, a robot can be guided to grasp target products continuously and directly for many times according to positioning, positioning time is saved, and the operation is simple and the production efficiency is effectively improved.
Example 4
As shown in fig. 5, the positioning system of the tray of the present embodiment includes an image acquisition module 1, a coordinate acquisition module 2, a positioning module 3, and a gripping module 4.
The image acquisition module 1 is used for acquiring an image of the material taking disc;
in the actual production process, a top camera can be arranged on the robot to shoot and collect the corresponding tray image of the whole tray.
The coordinate acquisition module 2 is used for acquiring coordinates of each tray lattice and a central point of each tray lattice in the tray image and calling the positioning module;
the positioning module 3 is used for positioning each tray lattice according to the coordinates of the central point;
the center point coordinates are used for representing the positions of target products in each tray lattice on the tray;
the grabbing module 4 is used for grabbing target products in the material taking tray according to each located material taking tray.
Specifically, as shown in fig. 2, a tray is provided 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 200ms. If the visual positioning guiding robot in the prior art is adopted to capture the target product only once after capturing one-time positioning, the corresponding visual processing time is = (100+200) ×9=2700 ms; by adopting the positioning method of the tray in the embodiment, all the tray grids on the whole tray can be photographed at one time and all the target products on each 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 compared with the prior art, the processing time is effectively saved, and the working efficiency is improved.
According to the embodiment, all products of the tray are positioned at one time, and the robot can be guided to grasp target products continuously and directly for many times according to positioning, so that positioning time is saved, and production efficiency is improved effectively and simply.
Example 5
As shown in fig. 6, this embodiment is further improved on the basis of embodiment 4, specifically:
the coordinate acquisition module 2 includes a tray cell acquisition unit 21, a lateral center distance acquisition unit 22, a longitudinal center distance acquisition unit 23, and a center point coordinate acquisition unit 24.
The tray cell acquisition unit 21 is used for acquiring each tray cell in the tray image;
wherein, the tray grids in the tray are arranged in a rectangular array shape;
meanwhile, the horizontal 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 lateral center distance acquiring unit 22 is configured to arbitrarily select two tray grids in a lateral direction of the rectangular array, and acquire a lateral center distance between two adjacent tray grids according to coordinates of a center point of the two tray grids;
the longitudinal center distance obtaining unit 23 is configured to randomly select two tray grids in a longitudinal direction of the rectangular array, and obtain a longitudinal center distance between two adjacent tray grids according to coordinates of a center point of the two tray grids;
the center point coordinate acquiring unit 24 is configured to arbitrarily select the center point coordinate of one tray cell as a reference point, and acquire the center point coordinates of all tray cells except the reference point according to the reference point, the horizontal center distance and the vertical center distance.
According to the embodiment, the transverse center distance and the longitudinal center distance between two adjacent material tray grids are calculated respectively through each material tray grid arranged in the shape of the rectangular array, the center point coordinate of each material tray grid is obtained through arbitrarily selecting the center point coordinate of one 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 are positioned at one time, a robot can be guided to grasp target products continuously and repeatedly and directly according to positioning, positioning time is saved, and the operation is simple and production efficiency is effectively improved.
Example 6
As shown in fig. 6, this embodiment is further improved on the basis of embodiment 5, specifically:
the lateral center distance obtaining unit 22 is configured to select a first tray cell and a last tray cell of any one row in the rectangular array, and obtain a lateral center distance between two adjacent tray cells, 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 coordinate (x 1, y 1) of the first tray grid of any row, the center point coordinate (x 2, y 2) of the last tray grid of any row, the rectangular array is m x n, m represents the number of rows of the matrix array, and n represents the number of columns of the matrix array;
the longitudinal center distance obtaining unit 23 is configured to select a first tray cell and a last tray cell in any column in the rectangular array, and obtain a longitudinal center distance between two adjacent tray cells, where a specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein column distance represents the longitudinal center distance between two adjacent tray cells, the center point coordinates (x 3, y 3) of the first tray cell of any one column, and the center point coordinates (x 4, y 4) of the last tray cell of any one column.
The center point coordinate acquiring unit 24 is configured to select the center point coordinates of the tray cells of the first row and the first column in the rectangular array as reference points, and acquire the center point coordinates of all the tray cells except the reference points according to the reference points, the horizontal center distances and the longitudinal center distances, where a specific calculation formula is as follows:
M＝[X+RowDistance*(i-1)，Y+ColumnDistance*(j-1)]
wherein the coordinates of the center point of the tray cells in the first row and the first column in the rectangular array are (X, Y), M represents the coordinates of the center point of all tray cells, i=1, 2, …, n, j=1, 2, …, M.
In this embodiment, for each tray cell set in the shape of the rectangular array, the lateral center distance between two adjacent tray cells is calculated by selecting the first tray cell and the last tray cell of any row in the rectangular array; the first tray grid and the last tray grid of any row in the rectangular array are selected to calculate the longitudinal center distance between two adjacent tray grids, the center point coordinates of the tray grids of the first row and the first row in the rectangular array are selected as reference points, the center point coordinates of each tray grid are obtained, and each tray grid is positioned according to the center point coordinates of each tray grid, so that all products of the tray are positioned at one time, a robot can be guided to grasp target products continuously and directly for many times according to positioning, positioning time is saved, and 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 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 principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (6)
1. A method of positioning a tray, the method comprising:
s1, acquiring a tray image;
s2, acquiring each tray cell and the center point coordinate of each tray cell in the tray image, and positioning each tray cell according to the center point coordinate;
the center point coordinates are used for representing the position of a target product in each tray lattice on the tray;
s3, grabbing the target product in the material tray grids according to each located material tray grid;
the step of obtaining the coordinates of each tray cell and the center point of each tray cell in the tray image specifically includes:
s21, acquiring each tray cell in the tray image;
wherein the tray cells in the tray are arranged in a rectangular array;
s22, 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;
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;
s23, randomly selecting the center point coordinate of one tray grid as a reference point, and acquiring the center point coordinates of all the tray grids except the reference point according to the reference point, the transverse center distance and the longitudinal center distance.
2. The method of positioning a tray according to claim 1, wherein step S22 specifically includes:
selecting a first tray lattice and a last tray lattice of any row in a rectangular array, and acquiring 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 coordinate (x 1, y 1) of the first tray grid of any row, the center point coordinate (x 2, y 2) of the last tray grid of any row, the rectangular array is m x n, m represents the number of rows of the matrix array, and n represents the number of columns of the matrix array;
selecting a first tray lattice and a last tray lattice of any column in a rectangular array, and acquiring the longitudinal center distance, wherein a specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein column distance represents the longitudinal center distance between two adjacent tray cells, the center point coordinates (x 3, y 3) of the first tray cell of any one column, and the center point coordinates (x 4, y 4) of the last tray cell of any one column.
3. The method of positioning a tray according to claim 2, wherein step S23 specifically includes:
selecting the center point coordinates of the tray grids of the first row and the first column in the rectangular array as reference points, and acquiring the center point coordinates of all the tray grids 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)]
wherein the coordinates of the center point of the tray cells in the first row and the first column in the rectangular array are (X, Y), M represents the coordinates of the center point of all tray cells, i=1, 2, …, n, j=1, 2, …, M.
4. The positioning system of the 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 an image of the material taking disc;
the coordinate acquisition module is used for acquiring coordinates of each tray lattice and a central point of each tray lattice in the tray image and calling the positioning module;
the positioning module is used for positioning each tray grid according to the center point coordinates;
the center point coordinates are used for representing the position of a target product in each tray lattice on the tray;
the grabbing module is used for grabbing the target product in the material tray grids according to each located material tray grid;
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 acquisition unit is used for acquiring each tray grid in the tray image;
wherein the tray cells in the tray are arranged in a rectangular array;
the transverse center distance acquisition unit is used for arbitrarily 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 arbitrarily 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 center point coordinate acquiring unit is used for arbitrarily selecting the center point coordinate of one tray grid as a reference point, and acquiring the center point coordinates of all the tray grids except the reference point according to the reference point, the transverse center distance and the longitudinal center distance.
5. The positioning system of claim 4, wherein the lateral center distance obtaining unit is configured to select a first tray cell and a last tray cell of any one row in the rectangular array, and obtain the lateral center distance between two adjacent tray cells, and 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 coordinate (x 1, y 1) of the first tray grid of any row, the center point coordinate (x 2, y 2) of the last tray grid of any row, the rectangular array is m x n, m represents the number of rows of the matrix array, and n represents the number of columns of the matrix array;
the longitudinal center distance obtaining unit is used for selecting a first tray lattice and a last tray lattice of any column in the rectangular array to obtain the longitudinal center distance between two adjacent tray lattices, and a specific calculation formula is as follows:
ColumnDistance＝(y4-y3)/(n-1)
wherein column distance represents the longitudinal center distance between two adjacent tray cells, the center point coordinates (x 3, y 3) of the first tray cell of any one column, and the center point coordinates (x 4, y 4) of the last tray cell of any one column.
6. The positioning system of claim 5, wherein the center point coordinate acquiring unit is configured to select a center point coordinate of a tray cell of a first row and a first column in a rectangular array as a reference point, and acquire center point coordinates of all the tray cells except the reference point according to the reference point, the lateral center distance, and the longitudinal center distance, with a specific calculation formula as follows:
M＝[X+RowDistance*(i-1)，Y+ColumnDistance*(j-1)]
wherein the coordinates of the center point of the tray cells in the first row and the first column in the rectangular array are (X, Y), M represents the coordinates of the center point of all tray cells, i=1, 2, …, n, j=1, 2, …, M.
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