CN111924479A - Carrier and system for automatic production - Google Patents
Carrier and system for automatic production Download PDFInfo
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- CN111924479A CN111924479A CN202010801652.0A CN202010801652A CN111924479A CN 111924479 A CN111924479 A CN 111924479A CN 202010801652 A CN202010801652 A CN 202010801652A CN 111924479 A CN111924479 A CN 111924479A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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Abstract
The present application provides carriers and systems for automated production. A carrier for automated production may include a carrying mechanism and a positioning mechanism. The bearing mechanism can be arranged on the top of the carrier and is used for bearing materials to be processed or processed. The positioning mechanism can be arranged on the top of the carrier, the surface of the positioning mechanism can obtain a plurality of non-coincident graphs when rotating around the center in a range of 0-360 degrees in the horizontal direction, and the image captured by the visual guidance system of the positioning mechanism is used for determining the direction and the position of the carrier.
Description
Technical Field
Embodiments of the present invention relate generally to the field of manufacturing, and more particularly, to the field of automated manufacturing.
Background
Along with the development of scientific technology, the degree of manual removal and automation in production and manufacturing is increasing day by day. Automated production places higher demands on the accuracy and efficiency of production and manufacturing.
Fig. 1 shows a typical automated production scenario. In the automated system 100, the carrier 110 is moved to the vicinity of the console 120 or placed near the console 120. The robot 130 provided on the operation table 120 can grab the material to be processed from the carrier 110 or place the processed material onto the carrier 110.
In the prior art, a vehicle with an automatic guiding function (e.g., an automatic guided vehicle AGV) has been used, but the positioning accuracy of the vehicle itself still needs to be improved.
The prior art also employs computer vision techniques to assist or replace the automatic guidance function of the vehicle to further improve positioning accuracy. For example, vision guidance systems using computer vision technology further compensate for errors in the positioning of the vehicle itself by capturing an image of the vehicle, comparing it to a reference image of the vehicle at a precise location to determine a positioning offset for the vehicle, and instructing the robot to correct the position of the gripped and placed material based on the positioning offset.
Computer vision techniques rely on accurate recognition of objects in captured vehicle images. For an automated production scenario with high efficiency and high precision requirements, there is still a need to further improve precision and efficiency.
Disclosure of Invention
The invention is provided in order to further improve the precision and efficiency of automated production.
According to one aspect of the present invention, a carrier for automated production is provided.
According to one embodiment, a carrier for automated production includes a carrier mechanism and a positioning mechanism. The bearing mechanism is arranged on the top of the carrier and is used for bearing materials to be processed or processed. The positioning mechanism is arranged on the top of the carrier, a plurality of non-coincident graphs can be obtained when the surface of the positioning mechanism rotates around the center in a range of 0-360 degrees in the horizontal direction, and the image captured by the visual guidance system of the positioning mechanism is used for determining the direction and the position of the carrier.
The carrier according to the above embodiment, wherein the positioning mechanism is disposed between an edge of the top of the carrier and the carrying mechanism, wherein one edge of the surface of the positioning mechanism is parallel to an edge of the carrying mechanism closest to the positioning mechanism and parallel to the edge of the top of the carrier.
The carrier according to any of the above embodiments, wherein the position of the positioning mechanism on the top of the carrier comprises one of: the minimum distance between the positioning mechanism and the edge of the top of the carrier is greater than 5mm, and the distance between the sides of the surface of the positioning mechanism and of the carrier parallel to each other is less than 15 mm; or the minimum distance between the positioning mechanism and the edge of the top of the carrier is larger than half of the maximum length of the positioning mechanism in the direction parallel to the edge of the top of the carrier, and the distance between the sides of the positioning mechanism, which are parallel to each other, of the bearing mechanism is smaller than one tenth of the maximum length of the bearing mechanism in the direction parallel to the edge of the top of the carrier.
The carrier according to any of the above embodiments, wherein the pattern of the surface of the positioning mechanism comprises: the graphics are polygon graphics or graphics obtained by Boolean operation of the polygon graphics and one or more other graphics.
The carrier according to any of the above embodiments, wherein the polygonal figure included in the surface of the positioning mechanism includes a trapezoidal figure.
The carrier according to any of the above embodiments, wherein the trapezoidal pattern included in the surface of the positioning mechanism includes a non-isosceles trapezoidal pattern.
The carrier according to any of the above embodiments, wherein the color of the positioning mechanism is different from the color of the top of the carrier.
The carrier according to any of the above embodiments, wherein the positioning mechanism is detachable from the carrier.
The vehicle according to any of the above embodiments, wherein the vehicle comprises an automated guided vehicle, AGV.
The vehicle according to any of the above embodiments, wherein determining the direction and position of the vehicle comprises: identifying coordinate information of a positioning mechanism in an image coordinate system; determining coordinate information of the carrier in an image coordinate system based on the relative position of the positioning mechanism in the carrier; according to the predetermined transformation relation between the image coordinate system and the robot workpiece coordinate system, transforming the coordinate information of the carrier in the image coordinate system into the coordinate information in the robot workpiece coordinate system; comparing the transformed coordinate information of the carrier with the coordinate information of the standard position of the carrier in a robot workpiece coordinate system to calculate an angle offset value and a position offset value of the carrier; and updating the robot work piece coordinate system based on the calculated angular and position offset values of the vehicle to determine the direction and position of the vehicle in the new robot work piece coordinate system.
According to another aspect of the present invention, a system for automated production is provided.
According to one embodiment, a system for automated production includes a carrier and a visual guidance system. The carrier comprises a bearing mechanism and a positioning mechanism. The bearing mechanism is arranged on the top of the carrier and is used for bearing materials to be processed or processed. The positioning mechanism is arranged on the top of the carrier, and a plurality of non-coincident graphs can be obtained when the surface of the positioning mechanism rotates around the center in the range of 0-360 degrees in the horizontal direction. The visual guidance system is for: when the vehicle is located in the vicinity of the robot, the direction and position of the vehicle are determined based on the captured images of the positioning mechanism to guide the robot to pick or drop material from or to the carrying mechanism.
The system according to the above embodiment, wherein the positioning mechanism is disposed between an edge of the top of the carrier and the carrying mechanism, wherein one edge of the surface of the positioning mechanism is parallel to an edge of the carrying mechanism closest to the positioning mechanism and parallel to the edge of the top of the carrier.
The system of any of the above embodiments, wherein the positioning mechanism is located at a position on the top of the carrier that includes one of: the minimum distance between the positioning mechanism and the edge of the top of the carrier is greater than 5mm, and the distance between the sides of the surface of the positioning mechanism and of the carrier parallel to each other is less than 15 mm; or the minimum distance between the positioning mechanism and the edge of the top of the carrier is larger than half of the maximum length of the positioning mechanism in the direction parallel to the edge of the top of the carrier, and the distance between the sides of the positioning mechanism, which are parallel to each other, of the bearing mechanism is smaller than one tenth of the maximum length of the bearing mechanism in the direction parallel to the edge of the top of the carrier.
The system of any of the above embodiments, wherein the pattern of the surface of the positioning mechanism comprises: the graphics are polygon graphics or graphics obtained by Boolean operation of the polygon graphics and one or more other graphics.
The system of any of the preceding embodiments, wherein the polygonal pattern included in the surface of the positioning mechanism includes a trapezoidal pattern.
The system of any preceding embodiment, wherein the trapezoidal pattern included in the surface of the positioning mechanism comprises a non-isosceles trapezoidal pattern.
The system of any of the above embodiments, wherein the visual guidance system is to: identifying coordinate information of a positioning mechanism in an image coordinate system; determining coordinate information of the carrier in an image coordinate system based on the relative position of the positioning mechanism in the carrier; according to the predetermined transformation relation between the image coordinate system and the robot workpiece coordinate system, transforming the coordinate information of the carrier in the image coordinate system into the coordinate information in the robot workpiece coordinate system; comparing the transformed coordinate information of the carrier with the coordinate information of the standard position of the carrier in a robot workpiece coordinate system to calculate an angle offset value and a position offset value of the carrier; and updating the robot work piece coordinate system based on the calculated angular and position offset values of the vehicle to determine the direction and position of the vehicle in the new robot work piece coordinate system.
According to the invention, the positioning mechanism with the surface having the non-rotation invariant shape is arranged on the carrier, so that the precision and the efficiency of the visual guidance system in the automatic production are further improved, and the precision and the efficiency of the automatic production are further improved. Compared with a carrier without a positioning mechanism, the precision of the visual guidance of the carrier provided with the positioning mechanism with the surface with the shape can be improved by 20-50%.
Drawings
A more particular description of the embodiments briefly summarized above may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments and are therefore not to be considered limiting of its scope.
Fig. 1 shows a typical automated production scenario.
Fig. 2 illustrates a process that may be performed by the vision guidance system to determine and compensate for positional deviation of the vehicle.
Fig. 3 shows a process that may be performed by the vision guidance system to calculate the angular and positional deviations of the carrier in the robot work piece coordinate system.
Fig. 4 illustrates a carrier for automated production according to an embodiment of the present invention.
Fig. 5-6 show top views of a vehicle that may be captured by a vision guidance system.
Fig. 7 shows a process of obtaining a new figure by boolean operation on two plane figures.
FIG. 8 illustrates a system for automated production according to an embodiment of the present invention.
Detailed Description
In the following description, numerous specific details are set forth to provide a more thorough understanding. It will be apparent, however, to one skilled in the art, that the embodiments described herein may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the details of the present embodiments.
The movement around the center of the figure described in this application refers to the rotational movement of a planar figure having a closed contour around any point inside the figure. Accordingly, the ability of the graphic to "coincide" with the original graphic after rotation about the center includes the ability of the new graphic after rotation about the center to coincide with the original graphic after translational movement.
The term "image coordinate system" as used in this application refers to a coordinate system established in an image captured by a vision guidance system. The term "robot workpiece coordinate system" as used in this application refers to a coordinate system established in the robot operating space, and the robot positions the carrier and its components by the coordinate information of the carrier in the coordinate system, thereby performing operations.
The term "polygon" as used in this application includes triangles, quadrilaterals and polygons of greater numbers. Further, "polygon" includes convex and concave polygons.
The term "boolean operation" as used in this application refers to a logical operation on two or more planar graphs, which may include a logical intersection operation, a logical union operation, and a logical difference operation on a first planar graph and a second planar graph.
To describe the embodiments of the present application more clearly, a process of determining and compensating for a positioning deviation of a vehicle using a vision guidance system is first described with reference to fig. 2 and 3.
Fig. 2 illustrates a process that may be performed by the vision guidance system to determine and compensate for positional deviation of the vehicle. In particular, fig. 2 shows that the image coordinate system 210 is transformed into the robot object coordinate system 230 by a coordinate transformation 220, and the robot object coordinate system 230 is updated to a new robot object coordinate system 250 by a coordinate transformation 240.
In operation, as the vehicle moves or is placed near the console, the visual guidance system may capture an image of the vehicle in which the image coordinate system 210 is established. That is, the position of the vehicle may be represented by its coordinate information in the image coordinate system 210. On the other hand, the position of the carrier is also indicated in the robot object coordinate system 230. In operation, the robot positions the carrier by its coordinate information in the robot workpiece coordinate system 230 to perform the corresponding operation. For example, with the coordinate information of the carrier mechanism on top of the carrier in the robot workpiece coordinate system 230, the robot can be positioned to the carrier mechanism to put material to or take material from the carrier mechanism. The image coordinate system 210 may be transformed to the robot workpiece coordinate system 230 by a coordinate transformation 220 such that coordinate information of the vehicle in the robot workpiece coordinate system 230 may be determined from coordinate information of the vehicle in the image coordinate system 210 in images captured by the visual guidance system. The coordinate transformation 220 may be predetermined. This may be determined, for example, by the coordinates in the robot workpiece coordinate system 230 of the vehicle in the standard position and the coordinate information in the image coordinate system 210 of the vehicle in the captured image.
In operation, after the coordinate information of the carrier in the image coordinate system 210 is transformed into coordinate information in the robot workpiece coordinate system 230, the coordinate information may be compared by the vision guidance system with coordinate information of a standard position of the carrier in the robot workpiece coordinate system 230 to calculate an angle and position deviation. This determination process is further described below in conjunction with fig. 3. Subsequently, in operation, the vision guidance system may perform a coordinate transformation 240 based on the calculated angular and positional deviations of the vehicle in the robot object coordinate system 230, thereby updating the robot object coordinate system 230 to a new robot object coordinate system 250. The robot can position the carrier according to its position information in the new robot coordinate system 250 to perform the corresponding operation. For example, a robot may position a carrier on top of a carrier based on its coordinate information in the new robot coordinate system 250 to accurately place material to or retrieve material from the carrier.
Fig. 3 shows a process that may be performed by the vision guidance system to calculate the angular and positional deviations of the carrier in the robot work piece coordinate system. This process may occur, for example, in the robot object coordinate system 230 depicted in fig. 2. In fig. 3, solid lines represent the carrier 300 in a standard position near the console, with the top including a load bearing mechanism 310. The standard position of the vehicle 300 may be predetermined and may be stored in a visual guidance system. The dashed lines represent the vehicle 300 'when actually parked near the console in operation, with the top including the carrier 310'. The coordinate information of the vehicle 300 'in the robot object coordinate system (e.g., robot object coordinate system 230 in fig. 2) may be transformed by the vision guidance system from the coordinate information of the vehicle 300' in the image coordinate system (e.g., image coordinate system 210 in fig. 2) by a coordinate transformation (e.g., coordinate transformation 220 in fig. 2). In the robot workpiece coordinate system, the deviation of the position at which the vehicle 300' is actually parked compared to the standard position may comprise a superposition of the position deviation shown at 350 and the angular deviation shown at 370. In operation, the vision guidance system may calculate the position and angle deviations of the carrier 300 'in the robot workpiece coordinate system and update the robot workpiece coordinate system to a new robot workpiece coordinate system (e.g., the new robot workpiece coordinate system 250 in fig. 2) based on the calculated position and angle deviations, thereby enabling the robot to accurately position the carrier 300' in the new robot workpiece coordinate system to perform a corresponding operation.
In light of the above description, exemplary embodiments of the invention are further provided below.
According to some embodiments of the present invention, a carrier for automated production is provided.
Fig. 4 shows a carrier 400 for automated production according to an embodiment of the invention. In some embodiments, the vehicle 400 may be a vehicle with automatic guidance (e.g., an Automatic Guided Vehicle (AGV)) that can be moved by automatic guidance to the vicinity of an operation table (not shown in fig. 4, see fig. 1) for further operation. In other embodiments, the carrier 400 may also be placed by an operator near the console for further operations. The carrier 400 located near the operation table may still have a position offset from the standard operation position, resulting in a positioning error, and thus the positioning error needs to be compensated for by the vision guidance system.
As shown, the carrier 400 may include a carrier mechanism 410 and a positioning mechanism 420 on top. The carrier mechanism 410 may be used to carry material to be processed or processed. In automated production, when the carrier 400 is located near the console, the robot may pick up material from the carrier 410 to process on the console or place processed material from the console onto the carrier 410. Compensating for positioning errors of the carrier 400 (and thus of the carrier 410) by means of the vision-guided system requires a fast and accurate identification of the carrier 400 and its components (e.g. the carrier 410) in the images captured by the vision-guided system.
Identifying the vehicle 400 directly or the inherent components mounted thereon (e.g., the carrier 410) may still be inadequate in terms of accuracy and efficiency, so a positioning mechanism 420 may also be provided on top of the vehicle 400, the positioning mechanism 420 being used to determine the orientation and position of the vehicle 400 from images captured by the visual guidance system. In some embodiments, the visual guidance system may determine the orientation and position of the vehicle 400 using images of the positioning mechanism 420 identified from the captured images of the vehicle 400. Specifically, the visual guidance system may identify coordinate information of the positioning mechanism 420 in the image coordinate system. The visual guidance system may determine coordinate information of the vehicle 400 in the image coordinate system based on the relative position of the positioning mechanism 420 in the vehicle 400. As an example, determining coordinate information of the vehicle 400 may include determining coordinate information of the load bearing mechanism 410. The vision guidance system may transform the coordinate information of the carrier 400 in the image coordinate system to the coordinate information in the robot workpiece coordinate system according to a transformation relationship between the image coordinate system and the robot workpiece coordinate system. As an example, the transformation relationship may be predetermined. The vision guidance system may compare the transformed coordinate information of the carrier 400 with the standard position coordinate information of the carrier 400 in the robot workpiece coordinate system to calculate an angle offset value and a position offset value of the carrier 400. As an example, the standard position of the carrier 400 may be preset. The vision guidance system may update the robot workpiece coordinate system based on the calculated angular and position offset values of the vehicle 400 to determine the direction and position of the vehicle 400 in the new robot coordinate system.
The positioning mechanism 420 may be secured to the top of the carrier 400 in various ways, for example, by fasteners, adhesives, and the like. In some embodiments, the positioning mechanism 420 is removable to facilitate maintenance and further adjustment. For example, screws and locating pins may be used to position the positioning mechanism 420 on top of the carrier 400. When disassembly is required, the positioning mechanism 420 can be pulled upward by unscrewing the screws.
In some embodiments, the positioning mechanism 420 may be disposed between an edge of the top of the carrier 400 and the carrier mechanism 410. One edge of the surface of the positioning mechanism 420 may be parallel to the edge of the carrier mechanism 410 closest to the positioning mechanism 420, and may be parallel to the edge of the top of the carrier 400. Locating the positioning mechanism 420 between an edge of the top of the carrier 400 and the carrier 410 facilitates faster identification of the positioning mechanism 420 by features of the intrinsic components of the carrier 400 in images of the carrier 400 captured by the vision system. Positioning the positioning mechanism 420 with one edge of its surface parallel to one edge of the carrier mechanism 410 and parallel to one edge of the top of the carrier 400 facilitates easier determination of the coordinate information of the carrier mechanism 410, and thus the carrier 400, based on the coordinate information of the positioning mechanism 420, after the positioning mechanism 420 is identified in the captured image by the visual guidance system.
In some embodiments, the minimum distance between the positioning mechanism 420 and the edge of the top of the carrier 400 may be greater than 5 mm. In some embodiments, the distance between the surfaces of the positioning mechanism 420 and the sides of the carrier mechanism 410 that are parallel to each other may be less than 15 mm. In other embodiments, the minimum distance between the positioning mechanism 420 and the edge of the top of the carrier 400 may be greater than one-half of the maximum length of the positioning mechanism 420 in a direction parallel to the edge of the top of the carrier 400. The distance between the surfaces of the positioning mechanism 420 and the mutually parallel edges of the carrying mechanism 410 may be less than one tenth of the maximum length of the carrying mechanism 410 in a direction parallel to the above-mentioned edge of the top of the carrier 400. Too close a positioning mechanism 420 to the edge of the top of the carrier 400 may cause the edge of the positioning mechanism 420 to ghost the edge of the top of the carrier 400 in the image captured by the visual guidance system, thereby affecting accurate identification of the positioning mechanism 420. On the other hand, too large a distance between the positioning mechanism 420 and the carrying mechanism 410 may result in cumulative errors, thereby causing errors in the guidance of the visual guidance system.
In some embodiments, the surface of the positioning mechanism 420 may be shaped to recognize rotation in a range of 0-360 degrees in the horizontal direction (i.e., parallel to the horizontal plane). In other words, the shape of the surface of the positioning mechanism 420 enables the visual guidance system to uniquely determine the orientation of the vehicle 400 therethrough. This will be further described below in conjunction with fig. 5-6. Specifically, when the surface of the positioning mechanism 420 is rotated around the center within a range of 0 to 360 degrees in the horizontal direction, a plurality of misaligned patterns can be obtained. Here, the new image after rotation can be overlapped with the original image by the translational motion and it is also considered that the new image is overlapped with the original image.
In some embodiments, the pattern of the surface of the positioning mechanism 420 may comprise a polygonal pattern. Further, the polygonal pattern included in the surface of the positioning mechanism 420 may include a trapezoidal pattern. Still further, the trapezoidal pattern included in the surface of the positioning mechanism 420 may include a non-isosceles trapezoidal pattern. In other embodiments, the pattern of the surface of the positioning mechanism 420 may include a pattern of polygons that is Boolean operated with one or more other patterns. These embodiments are further described below in conjunction with fig. 7.
In some embodiments, the color of the positioning mechanism 420 may be selected to be a large difference from the rest of the top of the carrier 400, such that the positioning mechanism 420 may be more easily identified from images of the top of the carrier 400 captured by the visual guidance system through the difference in color. By way of example, a large difference in color may be manifested as a large difference in hue, a high contrast, a large difference in reflectivity, and the like.
Fig. 5-6 show top views of a vehicle that may be captured by a visual guidance system for illustrating the benefits of the shape of the surface of the positioning mechanism included with the vehicle, particularly for discerning the direction of the vehicle, according to embodiments of the present invention. In fig. 5 and 6, the solid lines represent images captured by the visual guidance system when the vehicle is in an actual parking position, while the dashed lines represent images that may be captured by the visual guidance system when the vehicle is in another, imaginary parking position.
Referring to fig. 5, in this example, the carrier employs a positioning mechanism (hereinafter referred to as a circular positioning mechanism) whose surface is circular. This example may be a vehicle of a control group. Accordingly, the visual guidance system captures an image 500 of the vehicle, including an image 510 of the load bearing mechanism and an image 520 of the circular positioning mechanism. Since the positioning mechanism is easier to identify than other objects on top of the carrier in the image 500, the visual guidance system can position the carrier by identifying the circular positioning mechanism and positioning the carrier by the relative position of the circular positioning mechanism and the carrier. As shown, an image 500 ' of the carrier in another phantom position is also shown, including an image 510 ' of the carrier mechanism and an image 520 ' of the circular positioning mechanism. For an image 500' of the carrier in this phantom position, the circular positioning mechanism is not sufficient to reflect the angular offset of the carrier. As can be seen, for the images 520, 520 ' of the circular positioning mechanism at the same position, the image 510 ' of the corresponding carrier is angularly offset with respect to the image 510, and correspondingly, the image 500 ' of the corresponding vehicle is angularly offset with respect to the image 500. The identification of a circular positioning means is therefore not sufficient to uniquely determine the relative positioning between the positioning means and the support means. This deficiency may require the provision of another positioning mechanism to compensate, which may further increase the processing time and load of the visual guidance, thereby affecting efficiency.
Referring to fig. 6, the carrier in this example may be a carrier according to some embodiments of the invention. That is, when the surface of the positioning mechanism included in the carrier is rotated around the center within a range of 0 to 360 degrees in the horizontal direction, a plurality of non-overlapping patterns can be obtained. As shown in fig. 6, the visual guidance system captures an image 600 of the vehicle, including an image 610 of the carrier mechanism and an image 620 of the positioning mechanism. Because the positioning mechanism is easier to identify than other objects on the top of the carrier, the visual guidance system can position the bearing mechanism by identifying the positioning mechanism and the relative position of the positioning mechanism and the bearing mechanism, and further position the carrier. As shown, an image 600 ' of the carrier is also shown in another phantom position, including an image 610 ' of the carrier mechanism and an image 620 ' of the positioning mechanism. Due to the non-rotational invariance of the surface of the positioning mechanism, the visual guidance system can accurately reflect the angular deviation of the carrier in the range of 0-360 degrees by identifying the image of the single positioning mechanism, so that the precision and the efficiency of visual guidance are further improved. It should be noted that although a positioning mechanism having a trapezoidal shape surface is shown in fig. 6, one skilled in the art will appreciate that other positioning mechanisms having surfaces of other shapes, as described above, can also be employed. Furthermore, it should be noted that although some new figures obtained after a certain angle of rotation around the center can be overlapped with the original figures (e.g. some regular polygons), this is only a few special cases of these figures during the rotation around the center and is easy to be excluded (e.g. in combination with the inherent positioning accuracy of the carrier, which may not result in too large an angular offset, and therefore not rotate these figures by the angle of the special cases mentioned above, or in combination with other means described herein (e.g. boolean operations of the figures described below)), so that the inclusion of these figures on the surface of the positioning mechanism is also considered an embodiment of the present invention.
Fig. 7 shows a process of obtaining a new figure by boolean operation on two plane figures. The surface of the positioning mechanism of the carrier according to an embodiment of the present invention may include a new pattern obtained through boolean operations. Referring to FIG. 7, three Boolean operations are shown for rectangle A and circle B arranged as shown at 710. In particular, the logical intersection operation of rectangle A and circle B ("A ∩ B") may result in graph 720 (i.e., equivalent to taking the common portion of rectangle A and circle B); a logical union operation ("a ∪ B") of rectangle a and circle B may result in a graph 730 (i.e., equivalent to joining rectangle a and rectangle B); a logical difference set operation ("a-B") of rectangle a and circle B may produce graph 740 (i.e., equivalent to subtracting the portion containing circle B in rectangle a). The surface shape of the positioning mechanism of the carrier according to the embodiment of the present invention can be provided more flexibly by boolean operations. For example, in the case of a pattern in which a new pattern formed after rotation of the original pattern by a certain angle around the center can be superimposed on the original pattern, the special case can be eliminated by performing a simple boolean operation on the new pattern by using another pattern. It should be noted that although rectangular and circular boolean operations are illustrated in fig. 7, new patterns resulting from boolean operations of other patterns may also be used for the surface of the positioning mechanism of the vehicle according to embodiments of the present invention. Further, while a Boolean operation is shown in FIG. 7 for two planar graphics that are partially overlapping, one skilled in the art will appreciate that Boolean operations can also be performed for two planar graphics in other arrangements, e.g., one graphic may be fully contained within another graphic, two graphics do not overlap each other, and so on. Further, the Boolean operation with another graph may be performed again on the new graph generated by the Boolean operation to obtain a further new graph.
The embodiment of the invention also provides a system for automatic production.
Fig. 8 illustrates a system 800 for automated production according to an embodiment of the present disclosure. System 800 may include a vehicle 810 and a visual guidance system 820.
In some embodiments, the vehicle 810 may be a vehicle with automated guidance (e.g., an Automated Guided Vehicle (AGV)) that is capable of moving by automated guidance to the vicinity of the operator station 830 for further operations. In other embodiments, the vehicle 810 may also be placed by an operator near the console 830 for further operations. The vehicle 810 located near the operation table 830 may still have a position offset from the standard operation position, resulting in a positioning error, and therefore needs to be compensated for by the vision guidance system 820.
As shown, the carrier 810 may include a carrier mechanism 812 and a positioning mechanism 814 at the top. The carrier mechanism 812 may be used to carry material to be processed or processed. In automated production, when the carrier 810 is positioned near the station 830, material may be picked from the carrier 812 by the robot 840 for processing on the station 830 or processed material may be placed from the station 830 onto the carrier 812. Compensating for positioning errors of the carrier 810 (and thus the carrier 812) by means of the visual guidance system 820 requires a fast and accurate identification of the carrier 810 and its components (e.g., the carrier 812) in the images captured by the visual guidance system 820.
Identifying the vehicle 810 directly or the inherent components mounted thereon (e.g., the carrier mechanism 812) may still be inadequate in terms of accuracy and efficiency, so a positioning mechanism 814 may also be provided on top of the vehicle 810. In some embodiments, the vision guidance system 820 may determine the orientation and position of the vehicle 810 using images of the positioning mechanism 814 identified from the captured images of the vehicle 810 to guide the robot 840 to take or place material from or to the carrier 812. In particular, the visual guidance system 820 may identify coordinate information of the positioning mechanism 814 in an image coordinate system. The visual guidance system 820 may determine coordinate information of the vehicle 810 in the image coordinate system based on the relative position of the positioning mechanism 814 in the vehicle 810. As an example, determining coordinate information of the vehicle 810 may include determining coordinate information of the load bearing mechanism 812. The vision guidance system 820 may transform the coordinate information of the carrier 810 in the image coordinate system to the coordinate information in the robot workpiece coordinate system according to the transformation relationship between the image coordinate system and the robot workpiece coordinate system. As an example, the transformation relationship may be predetermined. The vision guidance system 820 may compare the transformed coordinate information of the carrier 810 with the standard position coordinate information of the carrier 810 in the robot workpiece coordinate system to calculate an angle offset value and a position offset value of the carrier 810. As an example, the standard position of the carrier 810 may be preset. The vision guidance system 820 may update the robot workpiece coordinate system based on the calculated angular and position offset values of the vehicle 810 to determine the direction and position of the vehicle 810 in the new robot coordinate system. After the robot workpiece coordinate system is updated, the robot 840 may position each component (e.g., the carrier 812) of the carrier 810 in the new robot workpiece coordinate system, thereby compensating for angular and positional deviations resulting from the positioning of the carrier 810 itself.
In some embodiments, positioning mechanism 814 may be disposed between an edge of the top of carrier 810 and carrier mechanism 812. One edge of the surface of the positioning mechanism 814 can be parallel to the edge of the carrier 812 closest to the positioning mechanism 814 and can be parallel to the edge of the top of the carrier 810. Positioning the positioning mechanism 814 between an edge of the top of the vehicle 810 and the carrier mechanism 812 facilitates faster identification of the positioning mechanism 814 by means of features of the intrinsic components of the vehicle 810 in images of the vehicle 810 captured by the vision system 820. Positioning the positioning mechanism 814 with one edge of its surface parallel to one edge of the carrier 812 and parallel to one edge of the top of the carrier 810 facilitates easier determination of the coordinate information of the carrier 812 based on the coordinate information of the positioning mechanism 814, and thus of the carrier 810, after the positioning mechanism 814 is identified in the captured image by the visual guidance system 820.
In some embodiments, the minimum distance between the positioning mechanism 814 and the edge of the top of the carrier 810 may be greater than 5 mm. In some embodiments, the distance between the sides of the surface of the positioning mechanism 814 and the carrier mechanism 812 that are parallel to each other may be less than 15 mm. In other embodiments, the minimum distance between the positioning mechanism 814 and the edge of the top of the carrier 810 may be greater than one-half of the maximum length of the positioning mechanism 814 in a direction parallel to the edge of the top of the carrier 810. The distance between the parallel sides of the surface of the positioning mechanism 814 and the carrying mechanism 812 may be less than one tenth of the maximum length of the carrying mechanism 812 in a direction parallel to the above-mentioned edge of the top of the carrier 810. Too close a positioning mechanism 814 to the edge of the top of the carrier 810 may cause the edge of the positioning mechanism 814 to ghost with the edge of the top of the carrier 810 in the image captured by the visual guidance system 820, thereby affecting accurate identification of the positioning mechanism 814. On the other hand, too large a distance between the positioning mechanism 814 and the carrier mechanism 812 may create cumulative errors, thereby causing errors in guidance by the visual guidance system 820.
In some embodiments, the surface of the positioning mechanism 814 may be shaped to recognize rotations in the range of 0-360 degrees in the horizontal direction (i.e., parallel to the horizontal plane). In other words, the shape of the surface of the positioning mechanism 814 enables the visual guidance system 820 to uniquely determine the orientation of the vehicle 810 therethrough. As described further above in connection with fig. 5-6. Specifically, when the surface of the positioning mechanism 814 is rotated around the center within a range of 0 to 360 degrees in the horizontal direction, a plurality of misaligned patterns can be obtained. Here, the new image after rotation can be overlapped with the original image by the translational motion and it is also considered that the new image is overlapped with the original image.
In some embodiments, the pattern of the surface of the positioning mechanism 814 can comprise a polygonal pattern. Further, the polygonal pattern included on the surface of the positioning mechanism 814 may include a trapezoidal pattern. Still further, the trapezoidal pattern included in the surface of the positioning mechanism 814 can include a non-isosceles trapezoidal pattern. In other embodiments, the pattern of the surface of the positioning mechanism 814 may include a pattern of polygons that is Boolean operated with one or more other patterns. As described above in connection with fig. 7.
In some embodiments, system 800 may also include a robot 840. In these embodiments, the visual guidance system 820 may be mounted on a robot 840. In other embodiments, the visual guidance system 820 may be otherwise configured. For example, the visual guidance system 820 may be mounted on a ceiling or wall near the operator station 830, or may be mounted on other stationary objects.
The foregoing description and drawings are to be regarded in an illustrative rather than a restrictive sense. Those skilled in the art will appreciate that various modifications and changes may be made to the embodiments described herein without departing from the broader spirit and scope of the disclosure as set forth in the appended claims.
Claims (17)
1. A carrier for automated production, comprising:
the bearing mechanism is arranged at the top of the carrier and used for bearing materials to be processed or processed; and
the positioning mechanism is arranged on the top of the carrier, a plurality of non-coincident graphs can be obtained when the surface of the positioning mechanism rotates around the center in a range of 0-360 degrees in the horizontal direction, and the image captured by the visual guidance system of the positioning mechanism is used for determining the direction and the position of the carrier.
2. The carrier of claim 1, wherein the positioning mechanism is disposed between an edge of the top of the carrier and the carrier, wherein an edge of a surface of the positioning mechanism is parallel to an edge of the carrier closest to the positioning mechanism and parallel to the edge of the top of the carrier.
3. The carrier of claim 2, wherein the positioning mechanism is located at a position on the top of the carrier that includes one of:
the minimum distance between the positioning mechanism and the edge of the top of the carrier is greater than 5mm, and the distance between the sides of the surface of the positioning mechanism and of the carrier parallel to each other is less than 15 mm; or
The minimum distance between the positioning mechanism and the edge of the top of the carrier is greater than one-half of the maximum length of the positioning mechanism in a direction parallel to the edge of the top of the carrier, and the distance between the sides of the positioning mechanism, which are parallel to each other, and the sides of the carrying mechanism, which are parallel to each other, is less than one tenth of the maximum length of the carrying mechanism in a direction parallel to the edge of the top of the carrier.
4. The carrier of claim 1, wherein the pattern of the surface of the positioning mechanism comprises: the graphics are polygon graphics or graphics obtained by Boolean operation of the polygon graphics and one or more other graphics.
5. The carrier of claim 4, wherein the polygonal pattern included in the surface of the positioning mechanism comprises a trapezoidal pattern.
6. The carrier of claim 5, wherein the trapezoidal pattern included in the surface of the positioning mechanism comprises a non-isosceles trapezoidal pattern.
7. The carrier of claim 1, wherein the positioning mechanism is a different color than a top of the carrier.
8. The carrier of claim 1, wherein the positioning mechanism is detachable from the carrier.
9. The vehicle of claim 1, wherein the vehicle comprises an Automated Guided Vehicle (AGV).
10. The vehicle of claim 1, wherein the determining the orientation and position of the vehicle comprises:
identifying coordinate information of the positioning mechanism in an image coordinate system;
determining coordinate information of the vehicle in the image coordinate system based on a relative position of the positioning mechanism in the vehicle;
according to a predetermined transformation relation between the image coordinate system and a robot coordinate system, transforming the coordinate information of the carrier in the image coordinate system into the coordinate information in the robot coordinate system;
comparing the transformed coordinate information of the carrier with coordinate information of a standard position of the carrier in the robot workpiece coordinate system to calculate an angle offset value and a position offset value of the carrier; and
updating the robotic work piece coordinate system based on the calculated angular and position offset values of the vehicle to determine the direction and position of the vehicle in a new robotic work piece coordinate system.
11. A system for automated production, comprising:
a carrier, the carrier comprising:
the bearing mechanism is arranged at the top of the carrier and used for bearing materials to be processed or processed;
the positioning mechanism is arranged at the top of the carrier, and a plurality of non-coincident graphs can be obtained when the surface of the positioning mechanism rotates around the center in the range of 0-360 degrees in the horizontal direction; and
a visual guidance system for determining an orientation and position of the vehicle based on the captured images of the positioning mechanism to guide the robot to pick or drop the material from or to the carrier when the vehicle is located in the vicinity of the robot.
12. The system of claim 11, wherein the positioning mechanism is disposed between an edge of the top of the carrier and the carrier, wherein an edge of a surface of the positioning mechanism is parallel to an edge of the carrier closest to the positioning mechanism and parallel to the edge of the top of the carrier.
13. The system of claim 12, wherein the positioning mechanism is located at a position on the top of the carrier comprising one of:
the minimum distance between the positioning mechanism and the edge of the top of the carrier is greater than 5mm, and the distance between the sides of the surface of the positioning mechanism and of the carrier parallel to each other is less than 15 mm; or
The minimum distance between the positioning mechanism and the edge of the top of the carrier is greater than one-half of the maximum length of the positioning mechanism in a direction parallel to the edge of the top of the carrier, and the distance between the sides of the positioning mechanism, which are parallel to each other, and the sides of the carrying mechanism, which are parallel to each other, is less than one tenth of the maximum length of the carrying mechanism in a direction parallel to the edge of the top of the carrier.
14. The system of claim 11, wherein the pattern of the surface of the positioning mechanism comprises: the graphics are polygon graphics or graphics obtained by Boolean operation of the polygon graphics and one or more other graphics.
15. The system of claim 11, wherein the surface of the positioning mechanism comprises a polygonal pattern comprising a trapezoidal pattern.
16. The system of claim 15, wherein the surface of the positioning mechanism comprises a trapezoidal pattern comprising a non-isosceles trapezoidal pattern.
17. The system of claim 11, wherein the visual guidance system is to:
identifying coordinate information of the positioning mechanism in an image coordinate system;
determining coordinate information of the vehicle in the image coordinate system based on a relative position of the positioning mechanism in the vehicle;
according to a predetermined transformation relation between the image coordinate system and a robot coordinate system, transforming the coordinate information of the carrier in the image coordinate system into the coordinate information in the robot coordinate system;
comparing the transformed coordinate information of the carrier with coordinate information of a standard position of the carrier in the robot workpiece coordinate system to calculate an angle offset value and a position offset value of the carrier; and
updating the robotic work piece coordinate system based on the calculated angular and position offset values of the vehicle to determine the direction and position of the vehicle in a new robotic work piece coordinate system.
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| CN202010801652.0A CN111924479A (en) | 2020-08-11 | 2020-08-11 | Carrier and system for automatic production |
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Application publication date: 20201113 |