CN112325813B

CN112325813B - Position detection method, device, system, controller and storage medium

Info

Publication number: CN112325813B
Application number: CN202011614354.7A
Authority: CN
Inventors: 陶红保; 梁启刚
Original assignee: Jihua Technology Co ltd
Current assignee: Jihua Technology Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-05-11
Anticipated expiration: 2040-12-30
Also published as: CN112325813A

Abstract

The invention discloses a position detection method, a device, a system, a controller and a storage medium, wherein the method comprises the following steps: acquiring data of the top surface of the material rack to obtain first distance data; calculating first position information of the top surface according to the first distance data; acquiring data of the first side face of the material rack to obtain second distance data; calculating second position information of the first side surface according to the second distance data and the first position relation information of the first side surface and the top surface; acquiring data of a second side surface of the material rack to obtain third distance data; calculating to obtain third position information of the second side surface according to the third distance data and the second position relation information of the second side surface and the top surface; and calculating to obtain real-time position information of the material rack according to the first position information, the second position information and the third position information. The position detection method, the device, the system, the controller and the storage medium can enable the manipulator to clamp the special material boxes on the multilayer material rack efficiently and accurately.

Description

Position detection method, device, system, controller and storage medium

Technical Field

The invention belongs to the technical field of automatic production, and particularly relates to a position detection method, a position detection device, a position detection system, a position detection controller and a storage medium.

Background

The wire harness is a network main body of an automobile circuit, and no matter the automobile is a high-grade luxury type or an economical and practical type, all parts need to be connected through the wire harness, so that electronic control of the automobile is realized. With the rapid development of the automobile industry, the demand of wire harnesses is also increasing. Because the production work of the wire harness is precise and complicated, most of the procedures are still finished manually in the existing production operation of the wire harness, the automation degree is low, and the realization of automatic production is a necessary way for meeting the increasing demand.

In the automatic production operation, realizing the automatic feeding and discharging of materials is the first and important breakthrough point. At present, a method for loading special material boxes includes that a plurality of material racks for placing the special material boxes are conveyed to a loading station through an AGV, then the special material boxes are clamped layer by a manipulator and loaded and mounted on a tooling plate, after the special material boxes of one material rack are loaded, the material racks are unloaded, and then the special material boxes of the next layer are loaded.

Because the locating position of AGV car transport at every turn can have certain deviation to the multilayer work or material rest of stacking each other can not guarantee to place theoretical position when stacking, for example the angle of work or material rest takes place to deflect, or certain layer of work or material rest does not have the level and places, lead to this layer of work or material rest and the work or material rest on it to take place the slope, and then lead to the actual position of work or material rest to take place the deviation relative to theoretical position, these objective uncertain factors that exist probably make the manipulator according to the movement path of setting for can't successfully press from both sides the special material box of getting on this layer of work or material rest, influence the manipulator and get the success rate of location.

Accordingly, the prior art is in need of improvement and development.

Disclosure of Invention

The invention provides a position detection method, a position detection device, a position detection system, a position detection controller and a storage medium, which can enable a manipulator to clamp special material boxes on a multilayer material rack efficiently and accurately.

In order to solve the technical problem, the position detection method provided by the invention is used for detecting the actual positions of the material racks before a manipulator clamps a special material box on a certain layer of material rack, wherein at least two layers of material racks are stacked, the main body structure of each material rack is a rectangular body and comprises a top surface, a first side surface and a second side surface, the top surface is perpendicular to the first side surface, the top surface is perpendicular to the second side surface, the first side surface is perpendicular to the second side surface, the top surface is provided with a detection surface for position detection, and the detection surface, the first side surface and the second side surface are flat planes, and the position detection method comprises the following steps:

carrying out data acquisition on the detection surface of the material rack at least three preset first detection points to obtain at least three first distance data, wherein the at least three preset first detection points are not on the same straight line;

calculating to obtain first position information of the top surface of the rack according to the at least three first distance data;

data acquisition is carried out on the first side face of the material rack at least two preset second detection points to obtain at least two second distance data;

calculating second position information of the first side surface of the rack according to the at least two second distance data and the first position relation information of the first side surface of the rack and the top surface of the rack;

data acquisition is carried out on the second side face of the material rack at least two preset third detection points to obtain at least two third distance data;

calculating to obtain third position information of the second side surface of the material rack according to the at least two third distance data and second position relation information of the second side surface of the material rack and the top surface of the material rack;

and calculating to obtain real-time position information of the material rack according to the first position information, the second position information and the third position information.

Further, before the step of performing data acquisition on the first side surface of the rack at least two preset second detection points to obtain at least two second distance data, the method further includes the following steps:

calculating to obtain second detection point position information according to the theoretical position information of the top surface of the material rack, second preset detection point position information and first position information of the top surface of the material rack, and adjusting at least two preset second detection points according to the second detection point position information;

before the step of performing data acquisition on the second side surface of the rack at the at least two preset third detection points to obtain at least two third distance data, the method further comprises the following steps:

and calculating to obtain third detection point position information according to the theoretical position information of the top surface of the material rack, the third preset detection point position information and the first position information of the top surface of the material rack, and adjusting at least two preset third detection points according to the third detection point position information.

Further, after the step of calculating the first position information of the top surface of the rack according to the at least three first distance data, the method further includes the following steps:

carrying out data acquisition on the detection surface of the material rack at least three preset first comparison detection points to obtain at least three first distance comparison data, wherein the at least three preset first comparison detection points are not on the same straight line;

calculating to obtain first position comparison information of the top surface of the material rack according to the at least three first distance comparison data;

and comparing the first position comparison information with the first position information, and sending an alarm signal when the first position comparison information is different from the first position information.

The position detection device provided by the invention is used for detecting the actual positions of the material racks before a manipulator clamps a special material box on a certain layer of material rack, at least two layers of material racks are stacked, the main structure of each material rack is a rectangular body and comprises a top surface, a first side surface and a second side surface, the top surface is perpendicular to the first side surface, the top surface is perpendicular to the second side surface, the first side surface is perpendicular to the second side surface, the top surface is provided with a detection surface for position detection, and the detection surface, the first side surface and the second side surface are flat planes, and the position detection device comprises:

the first acquisition module is used for acquiring data of a detection surface of the material rack at least three preset first detection points to obtain at least three first distance data, and the at least three preset first detection points are not on the same straight line;

the first calculation module is used for calculating first position information of the top surface of the material rack according to the at least three first distance data;

the second acquisition module is used for acquiring data of the first side surface of the rack at least two preset second detection points to obtain at least two second distance data;

the second calculation module is used for calculating second position information of the first side surface of the rack according to the at least two second distance data and the first position relation information of the first side surface and the top surface of the rack;

the third acquisition module is used for acquiring data of the second side surface of the material rack at least two preset third detection points to obtain at least two third distance data;

the third calculating module is used for calculating third position information of the second side surface of the material rack according to the at least two third distance data and the second position relation information of the second side surface of the material rack and the top surface of the material rack;

and the fourth calculation module is used for calculating to obtain real-time position information of the material rack according to the first position information, the second position information and the third position information.

Further, the position detection device also comprises a first adjusting module and a second adjusting module;

the first adjusting module is used for calculating to obtain second detection point position information according to theoretical position information of the top surface of the material rack, second preset detection point position information and first position information of the top surface of the material rack, and adjusting at least two preset second detection points according to the second detection point position information;

the second adjusting module is used for calculating to obtain third detection point position information according to the theoretical position information of the top surface of the material rack, third preset detection point position information and the first position information of the top surface of the material rack, and adjusting at least two preset third detection points according to the third detection point position information.

Further, the position detection device also comprises a first comparison module, wherein the first comparison module is used for comparing first position comparison information with the first position information and sending out an alarm signal when the first position comparison information is different from the first position information; the first position comparison information is obtained by calculation according to at least three first distance comparison data; the at least three first distance comparison data are obtained by data acquisition of the detection surface of the material rack at least three preset first comparison detection points, and the at least three preset first comparison detection points are not on the same straight line.

The position detection system provided by the invention is used for detecting the actual positions of the material racks before a manipulator clamps a special material box on a certain layer of material rack, at least two layers of material racks are stacked, the main structure of each material rack is a rectangular body and comprises a top surface, a first side surface and a second side surface, the top surface is vertical to the first side surface, the top surface is vertical to the second side surface, the first side surface is vertical to the second side surface, the top surface is provided with a detection surface for position detection, and the detection surface, the first side surface and the second side surface are flat planes and comprise ultrasonic sensors and a control system;

the ultrasonic sensor is used for:

the control system is configured to:

Further, the position detection system also includes, in operation:

the control system calculates to obtain second detection point position information according to theoretical position information of the top surface of the material rack, second preset detection point position information and first position information of the top surface of the material rack, and adjusts the at least two preset second detection points according to the second detection point position information;

and the control system calculates to obtain third detection point position information according to the theoretical position information of the top surface of the material rack, the third preset detection point position information and the first position information of the top surface of the material rack, and adjusts the at least two preset third detection points according to the third detection point position information.

The present invention provides a controller, comprising:

a memory for storing a computer program;

a processor for implementing the position detection method as described in any of the above when executing the computer program.

The present invention provides a storage medium having stored thereon a computer program which, when executed, implements a position detection method as described in any one of the above.

The invention discloses a position detection method, a device, a system, a controller and a storage medium, which skillfully use the geometric principle of point-to-line, line-to-surface and surface-to-body, calculate and obtain first position information of a top surface through at least three first distance data of the top surface of a material rack (the at least three first distance data are respectively acquired at least three preset first detection points, the at least three preset first detection points are not on the same straight line), calculate and obtain second position information of a first side surface through at least two second distance data of the first side surface and first position relation information of the first side surface, calculate and obtain third position information of a second side surface according to at least two third distance data of the second side surface and second position relation information of the second side surface, and finally calculate and obtain real-time position information of each layer of the material rack through the first position information of the top surface, the second position information of the first side surface and the third position information of the second side surface, thereby obtain the removal route of the accurate position of every layer of work or material rest in order to adjust the manipulator for the special material box on every layer of work or material rest can be snatched accurately to the manipulator.

Drawings

FIG. 1 is a flow chart of a position detection method according to the present invention.

Fig. 2 is a schematic structural diagram of a position detecting device according to the present invention.

Fig. 3 is a schematic structural diagram of the rack.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

As shown in fig. 1 and 2, a position detecting method according to the present invention is used for detecting actual positions of material racks before a manipulator clamps a special material box on a certain layer of material rack, at least two layers of material racks are stacked, a main structure of the material rack is a rectangular body, and the material rack includes a top surface 110, a first side surface 120 and a second side surface 130, the top surface 110 is perpendicular to the first side surface 120, the top surface 110 is perpendicular to the second side surface 130, the first side surface 120 is perpendicular to the second side surface 130, the top surface 110 is provided with a detecting surface 140 for performing position detection, and the detecting surface 140, the first side surface 120 and the second side surface 130 are flat planes, and the method includes the following steps:

s1, carrying out data acquisition on a detection surface of the material rack at least three preset first detection points to obtain at least three first distance data, wherein the at least three preset first detection points are not on the same straight line;

s2, calculating to obtain first position information of the top surface of the material rack according to the at least three first distance data;

s3, data acquisition is carried out on the first side face of the material rack at least two preset second detection points to obtain at least two second distance data;

s4, calculating to obtain second position information of the first side surface of the material rack according to the at least two second distance data and the first position relation information of the first side surface of the material rack and the top surface of the material rack;

s5, data acquisition is carried out on the second side face of the material rack at least two preset third detection points to obtain at least two third distance data;

s6, calculating to obtain third position information of the second side surface of the material rack according to the at least two third distance data and second position relation information of the second side surface of the material rack and the top surface of the material rack;

and S7, calculating to obtain real-time position information of the material rack according to the first position information, the second position information and the third position information.

As shown in fig. 3, in particular, the rack has a rectangular main structure, and support legs are provided at four azimuth angles of the main structure for placing and supporting, the top surface 110 of the rack is provided with a fixing structure for placing the special material box 150, and the detecting surface 140 is provided at any portion of the top surface 110 of the rack, preferably at an edge adjacent to the first side surface 120 or the second side surface 130, and extends along the edge.

Specifically, the first positional relationship information of the first side surface and the top surface is a positional relationship in which the first side surface and the top surface are perpendicular to each other, the second positional relationship information of the second side surface and the top surface is a positional relationship in which the second side surface and the top surface are perpendicular to each other, the first distance data is a linear distance between any one of the first detection points and a point corresponding to the detection surface, the second distance data is a linear distance between any one of the second detection points and a point corresponding to the first side surface, and the third distance data is a linear distance between any one of the third detection points and a point corresponding to the second side surface.

In the concrete application, the material rack with the special material boxes placed in multiple layers is conveyed to a material loading station through an AGV, and the special material boxes on the multiple layer material rack are clamped by the manipulator layer by layer to be loaded. To the work or material rest of each layer co-altitude, can have corresponding preliminary positional information through control system storage to according to each preliminary positional information, the manipulator is provided with the removal route that corresponds and goes to carry out the clamp of special material box and get. Before clamping a special material box on each layer of material rack, detecting the real-time position of the material rack, and calculating at least three first distance data of the top surface of the material rack according to a three-point surface forming geometric principle to obtain first position information of the top surface (the at least three first distance data are respectively acquired at least three preset first detection points which are not on the same straight line); then according to the principle that one surface can be pushed out through a two-point line, a known straight line and the known surface, second position information of the first side surface is obtained through calculation of at least two second distance data of the first side surface and first position relation information of the first side surface and the top surface, and third position information of the second side surface is obtained through calculation of at least two third distance data of the second side surface and second position relation information of the top surface; according to the geometric principle of the surface forming body, the real-time position information of each layer of material frame is obtained through calculation according to the first position information of the top surface, the second position information of the first side surface and the third position information of the second side surface, so that the accurate position of each layer of material frame is obtained, the moving path and the work of the manipulator are adjusted according to the real-time position information, and the manipulator can accurately grab the special material boxes on each layer of material frame.

In the concrete application, can carry out data acquisition through ultrasonic sensor to the top surface, first side and the second side of work or material rest, can go to carrying out data acquisition through this ultrasonic sensor of manipulator operation. Specifically, the first detection point, the second detection point and the third detection point are preset according to theoretical positions corresponding to all the material racks, the theoretical positions can be preset through the control system and correspond to the multiple layers of material racks, the first detection points can be the same on the premise that the detection range of the ultrasonic sensor is met, the corresponding first detection points can be set according to all the material racks with different heights, the second detection points and the third detection points with different heights correspond to all the material racks with different heights respectively, and information of the first detection points, the second detection points and the third detection points corresponding to all the material racks is stored in the control system. In specific application, according to the material racks with different height levels, the information of the material rack to be detected can be manually input, a control system generates a control instruction according to the information of the second detection point and the third detection point corresponding to the material rack of the layer, and a manipulator provided with an ultrasonic sensor is controlled to move to each second detection point or each third detection point for data acquisition; and the control system can also match the corresponding second detection points and third detection points according to the first position information of the top surface of the material rack, generate control instructions according to the information of the corresponding second detection points and third detection points of the material rack, and control the manipulator provided with the ultrasonic sensor to go to each second detection point or third detection point for data acquisition.

In specific application, because the position of the material rack deviates, the relative position of the detection surface of the top surface of the material rack and a preset first detection point deviates, when the position deviation of the material rack is within an error range, the first position information obtained by calculation according to data collected at the preset first detection point is still accurate; however, when the position deviation of the rack exceeds the error range, part or all of the at least three first detection points cannot correspond to the detection surface, and the real-time position of the top surface of the rack cannot be accurately represented according to the first position information obtained by calculating the data collected at the preset first detection points, so that the real-time position of the rack cannot be detected incorrectly, and the manipulator cannot accurately clamp the special material box on the rack.

In some preferred embodiments, after the step s2, calculating the first position information of the top surface of the rack according to at least three first distance data, the method further includes the following steps:

s21, carrying out data acquisition on the detection surface of the material rack at least three preset first comparison detection points to obtain at least three first distance comparison data, wherein the at least three preset first comparison detection points are not on the same straight line;

s22, calculating to obtain first position comparison information of the top surface of the rack according to at least three first distance comparison data;

s23, comparing the first position comparison information with the first position information, and sending an alarm signal when the first position comparison information is different from the first position information.

And comparing the first position comparison information with the first position information to judge whether the detected first position information is accurate first position information of the top surface of the layer material rack. When the first position comparison information is different from the first position information, the first position information is proved to be wrong, the detection surface of the top surface of the material rack does not completely correspond to the at least three first detection points, an alarm signal is sent, the position of the material rack needs to be corrected manually, and the top surface of the material rack is detected again after correction until the first position comparison information is the same as the first position information. Wherein the alarm signal includes but is not limited to beeping, flashing of indicator light, voice prompt, etc.

Specifically, the first detection point and the first comparison detection point are different, and may be set according to the distribution of the position, the shape, the area, and the like of the detection surface, so that the results of the two detections are representative.

In some preferred embodiments, before performing data acquisition on the first side of the rack at least two preset second detection points to obtain at least two second distance data in step s3, the method further includes the following steps:

s31, calculating to obtain second detection point position information according to the theoretical position information of the top surface of the material rack, second preset detection point position information and first position information of the top surface of the material rack, and adjusting at least two preset second detection points according to the second detection point position information;

in step s5, before data acquisition is performed on the second side surface of the rack at least two preset third detection points to obtain at least two third distance data, the method further includes the following steps:

s51, calculating to obtain third detection point position information according to the theoretical position information of the top surface of the material rack, the third preset detection point position information and the first position information of the top surface of the material rack, and adjusting at least two preset third detection points according to the third detection point position information.

In specific application, the second detection point and the third detection point are preset according to a theoretical position (specifically, a theoretical position of the top surface of each layer of material rack) corresponding to each layer of material rack, and the preset position of the second detection point or the third detection point is position information of the second preset detection point or position information of the third preset detection point. When the top surface of the rack inclines to cause the height position of the first side surface or the second side surface of the rack to rise or fall, the preset second detection point or the preset third detection point does not completely correspond to the first side surface or the second side surface, and therefore the accuracy of a detection result is affected. Through the technical scheme, the second detection point or the third detection point can be adjusted according to the real-time position (namely the first position information) of the top surface, the collected second distance data or third distance data are obtained by collecting the first side surface or the second side surface, and the accuracy of the detection result is further ensured.

In some preferred embodiments, in step S3, before the data acquisition of the first side of the rack at the at least two preset second detection points to obtain the at least two second distance data, the method further includes the following steps:

s30, comparing the first position information of the top surface of the material rack with the theoretical position information of the top surface of the material rack to obtain a deviation value of the first position information of the top surface of the material rack and the theoretical position information.

And when the deviation value exceeds the preset value, executing the step S31, calculating to obtain second detection point position information according to the theoretical position information of the top surface of the material rack, the second preset detection point position information and the first position information of the top surface of the material rack, and adjusting at least two preset second detection points according to the second detection point position information.

And when the deviation value does not exceed the preset value, executing the step S3, and performing data acquisition on the first side surface of the rack at least two preset second detection points to obtain at least two second distance data.

In some preferred embodiments, before the step s5, performing data acquisition on the second side surface of the rack at least two preset third detection points to obtain at least two third distance data, the method further includes the following steps:

s50, comparing the first position information of the top surface of the material rack with the theoretical position information of the top surface of the material rack to obtain a deviation value of the first position information of the top surface of the material rack and the theoretical position information.

And when the deviation value exceeds the preset value, executing the step S51, calculating to obtain third detection point position information according to the theoretical position information of the top surface of the material rack, the third preset detection point position information and the first position information of the top surface of the material rack, and adjusting at least two preset third detection points according to the third detection point position information.

And when the deviation value does not exceed the preset value, executing the step S5, and performing data acquisition on the second side surface of the material rack at least two preset third detection points to obtain at least two third distance data.

In specific application, the top surface of the rack inclines to cause the height position of the first side surface or the second side surface of the rack to be raised or lowered, if the position deviation of the top surface is within an error range (namely the deviation value of the first position information of the top surface and the theoretical position information does not exceed a preset value), the preset second detection point or third detection point still completely corresponds to the first side surface or the second side surface, namely data acquisition is carried out on the first side surface or the second side surface at the originally preset second detection point or third detection point, the real-time position of the first side surface or the second side surface can still be accurately calculated, and at this time, the preset second detection point or third detection point does not need to be adjusted. Therefore, according to the technical scheme, the position information of the second detection point or the position information of the third detection point of the second detection point or the third detection point does not need to be calculated before the data acquisition is carried out on the first side surface or the second side surface every time, and particularly at least two detection points are arranged on the second detection point and the third detection point, so that the calculation flow in the detection work is obviously reduced, and the efficiency of the detection work is effectively improved.

In some preferred embodiments, after the step s7, obtaining the real-time location information of the rack by calculating according to the first location information, the second location information, and the third location information, the method further includes the following steps:

and S8, comparing the real-time position information of the material rack with the theoretical position information of the material rack, and sending an alarm signal when the deviation of the real-time position information and the theoretical position information exceeds a preset value.

Through the technical scheme, when the deviation between the real-time position information and the theoretical position information exceeds the preset value and an alarm signal is sent, the fact that the real-time position of the material frame exceeds the working range of the mechanical arm is proved, the mechanical arm cannot work and adjust according to the real-time position to clamp the special material box on the material frame of the layer, the position of the material frame needs to be corrected manually, and then the real-time position of the material frame is detected until the deviation between the real-time position information and the theoretical position information does not exceed the preset value. Wherein the alarm signal includes but is not limited to beeping, flashing of indicator light, voice prompt, etc.

As shown in fig. 2 and 3, a position detecting apparatus according to the present invention is used for detecting actual positions of material racks before a manipulator clamps a special material box on a certain layer of material rack, at least two layers of material racks are stacked, a main structure of the material rack is a rectangular body, and the material rack includes a top surface 110, a first side surface 120 and a second side surface 130, the top surface 110 is perpendicular to the first side surface 120, the top surface 110 is perpendicular to the second side surface 130, the first side surface 120 is perpendicular to the second side surface 130, the top surface 110 is provided with a detecting surface 140 for performing position detection, and the detecting surface 140, the first side surface 120 and the second side surface 130 are flat surfaces, and the position detecting apparatus includes:

the first acquisition module is used for acquiring data of the detection surface of the material rack at least three preset first detection points to obtain at least three first distance data, and the at least three preset first detection points are not on the same straight line;

the second calculation module is used for calculating second position information of the first side surface according to the at least two second distance data and the first position relation information of the first side surface and the top surface of the rack;

the third acquisition module is used for acquiring data of the second side surface of the rack at least two preset third detection points to obtain at least two third distance data;

the third calculating module is used for calculating third position information of the second side surface according to the at least two third distance data and the second position relation information of the second side surface and the top surface of the rack;

and the fourth calculation module is used for calculating real-time position information of the material rack according to the first position information, the second position information and the third position information.

Specifically, the position detection device may further include a control system, each of the working modules is connected to the control system, the control system configures the working of the position detection device, the first acquisition module, the second acquisition module, and the third acquisition module may employ an ultrasonic sensor, and the ultrasonic sensor may be operated by a manipulator to perform data acquisition. The first detection point, the second detection point and the third detection point are preset according to theoretical positions corresponding to all layers of material racks, the control system can be used for presetting and corresponding to the multiple layers of material racks, on the premise that the detection range of the ultrasonic sensor is met, the first detection points can be the same, the corresponding first detection points can be set according to all layers of material racks with different heights, all layers of material racks with different heights respectively correspond to the second detection points and the third detection points with different heights, and information of the first detection points, the second detection points and the third detection points corresponding to all the layers of material racks is stored in the control system. In specific application, according to the material racks with different height levels, the information of the material rack on the layer can be manually input, a control system generates a control instruction according to the information of the second detection point and the third detection point corresponding to the material rack on the layer, and a manipulator provided with an ultrasonic sensor is controlled to move to each second detection point or each third detection point for data acquisition; and the control system can also match the corresponding second detection points and third detection points according to the first position information of the top surface of the material rack, generate control instructions according to the information of the corresponding second detection points and third detection points of the material rack, and control the manipulator provided with the ultrasonic sensor to go to each second detection point or third detection point for data acquisition.

In some preferred embodiments, the position detection apparatus further includes a first comparison module, the first comparison module is configured to compare first position comparison information with the first position information, and send an alarm signal when the first position comparison information is different from the first position information; the first position comparison information is obtained by calculation according to at least three first distance comparison data; the at least three first distance comparison data are obtained by data acquisition of the detection surface of the material rack at least three preset first comparison detection points, and the at least three preset first comparison detection points are not on the same straight line.

The first position comparison information and the first position information are compared through the first comparison module, and whether the first position information obtained through calculation according to the data collected by the first collection module is accurate first position information of the top surface of the layer material frame or not is judged. When the first position comparison information is different from the first position information, the first position information is proved to be wrong, the detection surface of the top surface of the material rack does not completely correspond to the at least three first detection points, an alarm signal is sent, the position of the material rack needs to be corrected manually, and the top surface of the material rack is detected again after correction until the first position comparison information is the same as the first position information. Wherein the alarm signal includes but is not limited to beeping, flashing of indicator light, voice prompt, etc.

In some preferred embodiments, the position detection apparatus further comprises a first adjustment module and a second adjustment module; the first adjusting module is used for calculating to obtain second detection point position information according to theoretical position information of the top surface of the material rack, second preset detection point position information and first position information of the top surface of the material rack, and adjusting at least two preset second detection points according to the second detection point position information; the second adjusting module is used for calculating to obtain third detection point position information according to the theoretical position information of the top surface of the material rack, the third preset detection point position information and the first position information of the top surface of the material rack, and adjusting at least two preset third detection points according to the third detection point position information.

In specific application, the second detection point and the third detection point are preset according to a theoretical position (specifically, a theoretical position of the top surface of each layer of material rack) corresponding to each layer of material rack, and the preset position of the second detection point or the third detection point is position information of the second preset detection point or position information of the third preset detection point. When the top surface of the rack inclines to cause the height position of the first side surface or the second side surface of the rack to rise or fall, the preset second detection point or the preset third detection point does not completely correspond to the first side surface or the second side surface, and therefore the accuracy of a detection result is affected. Through the technical scheme, the second detection point or the third detection point can be adjusted according to the real-time position (namely the first position information) of the top surface, the second distance data or the third distance data acquired by the second acquisition module or the third acquisition module are acquired from the first side surface or the second side surface, and the accuracy of the detection result is further ensured.

In some preferred preferable modes, the position detecting device further includes a second comparing module, the second comparing module is configured to compare the first position information of the top surface of the rack with theoretical position information of the top surface of the rack to obtain a deviation value between the first position information of the top surface of the rack and the theoretical position information, and when the deviation value exceeds a preset value, the first adjusting module or the second adjusting module is controlled to operate, or when the deviation value does not exceed the preset value, the second collecting module or the third collecting module is controlled to operate.

Specifically, the second comparison module may send the comparison result to the control system, and the control system generates a control instruction according to the comparison result to control the first adjustment module or the second acquisition module or the third acquisition module to operate.

In specific application, the top surface of the rack inclines to cause the height position of the first side surface or the second side surface of the rack to be raised or lowered, if the position deviation of the top surface is within an error range (namely the deviation value of the first position information of the top surface and the theoretical position information does not exceed a preset value), the preset second detection point or third detection point still completely corresponds to the first side surface or the second side surface, namely data acquisition is carried out on the first side surface or the second side surface at the originally preset second detection point or third detection point, the real-time position of the first side surface or the second side surface can still be accurately calculated, and at this time, the preset second detection point or third detection point does not need to be adjusted. Therefore, according to the technical scheme, the position information of the second detection point or the position information of the third detection point of the second detection point or the third detection point does not need to be calculated before the data acquisition is carried out on the first side surface or the second side surface every time, and particularly at least two detection points are arranged on the second detection point and the third detection point, so that the calculation flow of the detection device in the detection work is obviously reduced, and the efficiency of the detection work is effectively improved.

In some preferred embodiments, the position detecting apparatus further includes a third comparing module, where the third comparing module is configured to compare the real-time position information of the rack with the theoretical position information of the rack, and send an alarm signal when a deviation between the real-time position information and the theoretical position information exceeds a preset value.

A position detection system is used for detecting the actual position of a material rack before a manipulator clamps a special material box on a certain layer of material rack, at least two layers of material racks are stacked, the main structure of each material rack is a rectangular body and comprises a top surface, a first side surface and a second side surface, the top surface is perpendicular to the first side surface, the top surface is perpendicular to the second side surface, the first side surface is perpendicular to the second side surface, the top surface is provided with a detection surface for position detection, and the detection surface, the first side surface and the second side surface are flat planes and comprise ultrasonic sensors and a control system; the ultrasonic sensor is used for:

data acquisition is carried out on the first side surface of the rack at least two preset second detection points to obtain at least two second distance data;

data acquisition is carried out on the second side surface of the material rack at least two preset third detection points to obtain at least two third distance data;

the control system is used for:

calculating to obtain third position information of the second side surface of the rack according to the at least two third distance data and the second position relation information of the second side surface of the rack and the top surface of the rack;

In the concrete application, the material rack with the special material boxes placed in multiple layers is conveyed to a material loading station through an AGV, and the special material boxes on the multiple layer material rack are clamped by the manipulator layer by layer to be loaded. To the work or material rest of each layer co-altitude, control system storage has corresponding preliminary positional information to according to each preliminary positional information, the manipulator is provided with the removal route that corresponds and goes to carry out the clamp of special material box and get. Before clamping a special material box on each layer of material rack, detecting the real-time position of the material rack, and calculating at least three first distance data of the top surface of the material rack according to a three-point surface forming geometric principle to obtain first position information of the top surface (the at least three first distance data are respectively acquired at least three preset first detection points which are not on the same straight line); then according to the principle that one surface can be pushed out through a two-point line, a known straight line and the known surface, second position information of the first side surface is obtained through calculation of at least two second distance data of the first side surface and first position relation information of the first side surface and the top surface, and third position information of the second side surface is obtained through calculation of at least two third distance data of the second side surface and second position relation information of the top surface; according to the geometric principle of the surface forming body, the real-time position information of each layer of material frame is obtained through calculation according to the first position information of the top surface, the second position information of the first side surface and the third position information of the second side surface, so that the accurate position of each layer of material frame is obtained, the moving path and the work of the manipulator are adjusted according to the real-time position information, and the manipulator can accurately grab the special material boxes on each layer of material frame.

In specific application, the ultrasonic sensor can be operated by a manipulator to acquire data. Specifically, the first detection point, the second detection point and the third detection point are preset according to theoretical positions corresponding to all the material racks, the theoretical positions can be preset through the control system and correspond to the multiple layers of material racks, the first detection points can be the same on the premise that the detection range of the ultrasonic sensor is met, the corresponding first detection points can be set according to all the material racks with different heights, the second detection points and the third detection points with different heights correspond to all the material racks with different heights respectively, and information of the first detection points, the second detection points and the third detection points corresponding to all the material racks is stored in the control system. In specific application, according to the material racks with different height levels, the information of the material rack on the layer can be manually input, after the ultrasonic sensor carries out data acquisition on the first detection point, the control system generates a control instruction according to the information of the second detection point and the third detection point corresponding to the material rack on the layer, and controls the manipulator provided with the ultrasonic sensor to go to each second detection point or each third detection point for carrying out data acquisition; and the control system can also match the corresponding second detection points and third detection points according to the first position information of the top surface of the material rack, generate control instructions according to the information of the corresponding second detection points and third detection points of the material rack, and control the manipulator provided with the ultrasonic sensor to go to each second detection point or third detection point for data acquisition.

In some preferred embodiments, the position detection system further comprises, during operation:

the ultrasonic sensor performs data acquisition on the detection surface of the material rack at least three preset first comparison detection points to obtain at least three first distance comparison data, wherein the at least three preset first comparison detection points are not on the same straight line;

and the control system calculates first position comparison information of the top surface of the rack according to at least three first distance comparison data, compares the first position comparison information with the first position information, and sends out an alarm signal when the first position comparison information is different from the first position information.

The detection surface of the top surface of the material rack is subjected to first distance comparison data collection through the ultrasonic sensor, first position comparison information is compared with first position information, and whether the first position information obtained through detection is accurate first position information of the top surface of the material rack is judged. When the first position comparison information is different from the first position information, the first position information is proved to be wrong, the detection surface of the top surface of the material rack does not completely correspond to the at least three first detection points, an alarm signal is sent, the position of the material rack needs to be corrected manually, and the top surface of the material rack is detected again after correction until the first position comparison information is the same as the first position information. Wherein the alarm signal includes but is not limited to beeping, flashing of indicator light, voice prompt, etc.

the control system calculates to obtain second detection point position information according to the theoretical position information of the top surface of the material rack, second preset detection point position information and first position information of the top surface of the material rack, and adjusts at least two preset second detection points according to the second detection point position information;

and the control system calculates to obtain third detection point position information according to the theoretical position information of the top surface of the material rack, the third preset detection point position information and the first position information of the top surface of the material rack, and adjusts at least two preset third detection points according to the third detection point position information.

the control system compares the first position information of the top surface of the rack with theoretical position information of the top surface of the rack to obtain a deviation value of the first position information of the top surface of the rack and the theoretical position information, and adjusts at least two preset second detection points or third detection points according to second detection point position information or third detection point position information when the deviation value exceeds a preset value, wherein the second detection point position information (third detection point position information) is obtained by calculation according to the theoretical position information of the top surface of the rack, the second preset detection point position information (third preset detection point position information) and the first position information of the top surface of the rack; or when the deviation value does not exceed a preset value, controlling the ultrasonic sensor to acquire data of the first side surface or the second side surface of the material rack.

In specific application, the top surface of the rack inclines to cause the height position of the first side surface or the second side surface of the rack to be raised or lowered, if the position deviation of the top surface is within an error range (namely the deviation value of the first position information of the top surface and the theoretical position information does not exceed a preset value), the preset second detection point or third detection point still completely corresponds to the first side surface or the second side surface, namely data acquisition is carried out on the first side surface or the second side surface at the originally preset second detection point or third detection point, the real-time position of the first side surface or the second side surface can still be accurately calculated, and at this time, the preset second detection point or third detection point does not need to be adjusted. Therefore, according to the technical scheme, the position information of the second detection point or the position information of the third detection point of the second detection point or the third detection point does not need to be calculated before the data acquisition is carried out on the first side surface or the second side surface every time, and particularly at least two detection points are arranged on the second detection point and the third detection point, so that the calculation flow of a control system in the detection work is obviously reduced, and the efficiency of the detection work is effectively improved.

and the control system compares the real-time position information of the material rack with the theoretical position information of the material rack, and sends out an alarm signal when the deviation between the real-time position information and the theoretical position information exceeds a preset value.

A controller, comprising: a memory for storing a computer program and a processor; the processor is adapted to carry out the position detection method as described in any of the above when the computer program is executed.

A storage medium having stored thereon a computer program which, when executed, implements a position detection method as described in any one of the above. In particular, the storage medium may be implemented by any type of volatile or non-volatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a position detection method for before the special material box on a certain layer of work or material rest is got to manipulator clamp, detect the actual position of work or material rest, at least two-layer the work or material rest is piled up and is placed, the major structure of work or material rest is the cuboid, and it includes top surface, first side and second side, the top surface with first side is perpendicular, the top surface with the second side is perpendicular, first side with the second side is perpendicular, the top surface is equipped with the detection face that is used for carrying out the position detection, detection face, first side and second side are smooth plane, its characterized in that includes the following step:

2. The position detection method according to claim 1, wherein before the step of performing data acquisition on the first side of the rack at least two preset second detection points to obtain at least two second distance data, the method further comprises the steps of:

3. The position detection method according to claim 1, further comprising, after the step of calculating first position information of the top surface of the rack from the at least three first distance data, the steps of:

4. The utility model provides a position detection device for before the special material box on a certain layer of work or material rest is got to manipulator clamp, detect the actual position of work or material rest, at least two-layer the work or material rest is piled up and is placed, the major structure of work or material rest is the cuboid, and it includes top surface, first side and second side, the top surface with first side is perpendicular, the top surface with the second side is perpendicular, first side with the second side is perpendicular, the top surface is equipped with the detection face that is used for carrying out the position detection, detection face, first side and second side are smooth plane, a serial communication port, include:

5. The position detecting device according to claim 4, characterized by further comprising a first adjusting module and a second adjusting module;

6. The position detection device according to claim 4, further comprising a first comparison module for comparing first position comparison information with the first position information, and when the first position comparison information is different from the first position information, sending an alarm signal;

the first position comparison information is obtained by calculation according to at least three first distance comparison data;

the at least three first distance comparison data are obtained by data acquisition of the detection surface of the material rack at least three preset first comparison detection points, and the at least three preset first comparison detection points are not on the same straight line.

7. A position detection system is used for detecting the actual positions of material racks before a manipulator clamps a special material box on a certain layer of material rack, at least two layers of material racks are stacked, the main structure of each material rack is a rectangular body and comprises a top surface, a first side surface and a second side surface, the top surface is perpendicular to the first side surface, the top surface is perpendicular to the second side surface, the first side surface is perpendicular to the second side surface, the top surface is provided with a detection surface for position detection, and the detection surface, the first side surface and the second side surface are flat planes;

the ultrasonic sensor is used for:

the control system is configured to:

8. The position detection system of claim 7, further comprising, in operation:

9. A controller, comprising:

a memory for storing a computer program;

a processor for implementing a position detection method as claimed in any one of claims 1 to 3 when executing the computer program.

10. A storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements a position detection method according to any one of claims 1 to 3.