CN113282056A - Motion control compensation method, motion control compensation device, computer equipment and storage medium - Google Patents
Motion control compensation method, motion control compensation device, computer equipment and storage medium Download PDFInfo
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- CN113282056A CN113282056A CN202110337989.5A CN202110337989A CN113282056A CN 113282056 A CN113282056 A CN 113282056A CN 202110337989 A CN202110337989 A CN 202110337989A CN 113282056 A CN113282056 A CN 113282056A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35408—Calculate new position data from actual data to compensate for contour error
Abstract
The invention discloses a motion control compensation method, a motion control compensation device, computer equipment and a storage medium thereof, wherein the method comprises the following steps: nine-point calibration is carried out on each boss of a calibration path on a calibration tool so as to calculate and obtain X, Y coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located, wherein the calibration tool is provided with the calibration path consistent with the machining path, and the calibration path comprises a plurality of bosses which are sequentially arranged according to the machining path; detecting each boss on the calibration path by using a laser detector to obtain a Z coordinate of each boss, and storing X, Y, Z coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located as correction data; and performing path compensation on the machining path according to the correction data. According to the motion control compensation method and device, the computer equipment and the storage medium thereof provided by the embodiment of the invention, the deviation of the processing path can be accurately calculated, and then path compensation is carried out, so that the processing path is more accurate and the precision is higher.
Description
Technical Field
The present invention relates to the field of motion control technologies, and in particular, to a motion control compensation method and apparatus, a computer device, and a storage medium thereof.
Background
In the automatic machining, a mechanical device performs automatic machining on a workpiece to be machined according to a machining path set by a program, however, during the movement of the mechanical device, due to the mechanical cooperation and other factors, the movement track has a deviation, for example, for linear movement, each linear movement is not necessarily a precise straight line, and therefore, the machining path has a certain deviation.
Taking dispensing processing as an example, dispensing is a process of applying, encapsulating, and dripping glue, oil, or other liquid onto a product to make the product perform the functions of adhering, encapsulating, insulating, fixing, etc. When the dispensing equipment performs dispensing processing, the dispensing processing is performed according to the predetermined dispensing path, as described above, when the linear module moves to each point on the dispensing path, it is difficult to ensure accurate linear movement, which finally causes positional deviation of the points on the dispensing path and deviation of the dispensing path.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. To this end, the present invention is directed to a motion control compensation method, apparatus, computer device and storage medium thereof.
To achieve the above object, in a first aspect, a motion control compensation method according to an embodiment of the present invention includes:
nine-point calibration is carried out on each boss of a calibration path on a calibration tool, so that X, Y coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located are obtained through calculation, wherein the calibration path consistent with a machining path is arranged on the calibration tool, and the calibration path comprises a plurality of bosses which are sequentially arranged according to the machining path;
detecting each boss on the calibration path by using a laser detector to obtain a Z coordinate of each boss, and storing X, Y, Z coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located as correction data;
and performing path compensation on the processing path according to the correction data.
According to an embodiment of the present invention, the nine-point calibration of each boss of the calibration path on the calibration tool to calculate the X, Y coordinate of each boss and the included angle between the X axis and the Y axis in the coordinate system of each boss includes:
performing cross calibration calculation on Mark points on a calibration tool to obtain Mark point coordinates, wherein the calibration tool is also provided with the Mark points;
calculating the initial coordinate of the boss corresponding to the initial position on the calibration path according to the Mark point coordinate;
and carrying out nine-point calibration calculation on each boss according to the initial coordinates of the boss at the initial position to obtain X, Y coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located.
According to an embodiment of the invention, the cross calibration calculation of the Mark point on the calibration tool to obtain the Mark point coordinate comprises:
controlling the vision camera to move from the central point on the calibration tool to the Mark point according to a first preset deviation between the central point on the calibration tool and the Mark point, wherein the calibration tool also has the central point;
and performing cross calibration on the Mark point, calculating the actual deviation of the Mark point relative to the central point and determining the coordinate of the Mark point.
According to an embodiment of the present invention, the calculating the initial coordinates of the boss corresponding to the initial position on the calibration path according to the Mark point coordinates includes:
and calculating the initial coordinate of the boss corresponding to the initial position according to the Mark point coordinate and a second preset deviation between the boss corresponding to the initial position and the Mark point.
According to an embodiment of the present invention, the calculating X, Y coordinates of each boss and the included angle between the X axis and the Y axis in the coordinate system of each boss by performing a nine-point calibration on each boss according to the initial coordinates of the boss at the starting position includes:
controlling the vision camera to move to the position above the boss of the initial position according to the initial coordinate of the boss corresponding to the initial position, and calculating by using a nine-point calibration algorithm to obtain X, Y coordinates of the boss of the initial position and an included angle between an X axis and a Y axis in a coordinate system where the boss is located;
and controlling the vision camera to move to the upper part of other adjacent bosses according to a third preset deviation between two adjacent bosses, and sequentially calculating X, Y coordinates of the other bosses and the included angles of the X axis and the Y axis in the coordinate system by using a nine-point calibration algorithm.
According to an embodiment of the present invention, the detecting each of the bosses on the calibration path by using the laser detector includes:
and controlling the laser detector to move above the boss according to the X, Y coordinate of the boss so as to detect the boss.
In a second aspect, a motion control calibration and compensation apparatus according to an embodiment of the present invention includes:
the calibration unit is used for carrying out nine-point calibration on each boss of a calibration path on a calibration tool so as to calculate and obtain X, Y coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located, wherein the calibration tool is provided with the calibration path consistent with a machining path, and the calibration path comprises a plurality of bosses which are sequentially arranged according to the machining path;
the detection unit is used for detecting each boss on the calibration path by using a laser detector to obtain a Z coordinate of each boss, and storing X, Y, Z coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located as correction data;
and the compensation unit is used for performing path compensation on the processing path according to the correction data.
According to an embodiment of the invention, the calibration unit comprises:
the calibration device comprises a first calibration module, a second calibration module and a calibration module, wherein the first calibration module is used for performing cross calibration calculation on Mark points on a calibration tool to obtain Mark point coordinates, and the calibration tool is also provided with the Mark points;
the first calculation module is used for calculating the initial coordinates of the boss corresponding to the initial position on the calibration path according to the Mark point coordinates;
and the second calibration module is used for carrying out nine-point calibration calculation on each boss according to the initial coordinates of the boss at the initial position to obtain X, Y coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located.
In a third aspect, a computer device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the motion control compensation method as described above when executing the computer program.
In a fourth aspect, a computer storage medium according to an embodiment of the invention has stored thereon a computer program which, when executed by a processor, implements the motion control compensation method as described above.
According to the motion control compensation method, the motion control compensation device, the computer equipment and the storage medium thereof, nine-point calibration is carried out on each boss of a calibration path on a calibration tool so as to calculate and obtain X, Y coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located, then each boss on the calibration path is detected by a laser detector so as to obtain a Z coordinate of each boss, and X, Y, Z coordinates of each boss and the included angle between the X axis and the Y axis in the coordinate system where each boss is located are stored as correction data; and finally, path compensation is carried out on the processing path according to the correction data, so that the deviation of the processing path can be accurately calculated, and further path compensation is carried out, so that the processing path is more accurate and has higher precision.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of a calibration tool in the motion control compensation method of the present invention;
FIG. 2 is a flow chart of one embodiment of the motion control compensation method of the present invention;
FIG. 3 is a flowchart of one embodiment of step S102 of the motion control compensation method of the present invention;
FIG. 4 is a flowchart of one embodiment of step S201 of the motion compensation method of the present invention;
FIG. 5 is a flowchart of one embodiment of step S203 of the motion compensation method of the present invention;
FIG. 6 is a schematic diagram of an embodiment of the motion control compensation apparatus of the present invention;
FIG. 7 is a schematic diagram of an embodiment of a unit cell in the motion compensation apparatus according to the present invention;
FIG. 8 is a schematic structural diagram of an embodiment of a first calibration module in the motion control compensation apparatus according to the present invention;
FIG. 9 is a schematic diagram of an embodiment of a second calibration module of the motion control compensation apparatus according to the present invention;
FIG. 10 is a schematic diagram of the structure of one embodiment of the computer device of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar 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.
Referring to fig. 2, fig. 2 is a flowchart illustrating an embodiment of a motion control compensation method provided by an embodiment of the present invention, and for convenience of description, only the portions related to the embodiment of the present invention are shown. Specifically, the motion control compensation method includes:
s101, performing nine-point calibration on each of the bosses 1011a, 1011b of the calibration path 101 on the calibration tool 10 to calculate an X, Y coordinate of each of the bosses 1011a, 1011b and an included angle between the X axis and the Y axis in the coordinate system where each of the bosses 1011a, 1011b is located, where the calibration tool 10 has the calibration path 101 consistent with the machining path, and the calibration path 101 includes a plurality of the bosses 1011a, 1011b (as shown in fig. 1) sequentially arranged according to the machining path.
Specifically, the calibration tool 10 is prepared in advance, the calibration tool 10 may be a plate-shaped member, and the calibration path 101 consistent with the processing path is processed on the calibration tool 10, for example, in the dispensing processing application, the processing path is a dispensing path, the dispensing path includes a plurality of dispensing points, a plurality of bosses 1011a and 1011b may be processed on the calibration tool 10, each boss 1011a and 1011b corresponds to one dispensing point, and a connection line of the bosses 1011a and 1011b is the calibration path 101. After the calibration tool 10 is prepared, the calibration may be mounted on a jig of the dispensing apparatus, and the calibration tool 10 may be adjusted to be in a horizontal state.
In the step, the vision camera scans the bosses 1011a and 1011b in sequence according to the calibration path 101, nine-point calibration is performed on the bosses 1011a and 1011b, the X coordinate and the Y coordinate of each boss 1011a and 1011b and the included angle between the X axis and the Y axis of the boss 1011a and 1011b in the coordinate system are calculated, and since the motion path of the linear module driving the vision camera to move is not an accurate straight line, when the vision camera moves to each boss 1011a and 1011b, the included angle between the X axis and the Y axis is not necessarily ninety degrees, the X coordinate, the Y coordinate and the included angle are calculated, and the compensation of the processing path can be used.
S102, detecting each boss 1011a, 1011b on the calibration path 101 by using a laser detector to obtain a Z coordinate of each boss 1011a, 1011b, and storing X, Y, Z coordinates of each boss 1011a, 1011b and an included angle between an X axis and a Y axis in a coordinate system of each boss 1011a, 1011b as correction data.
That is to say, after the vision camera performs nine-point calibration on each boss 1011a, 1011b on the calibration path 101 to determine the X coordinate, the Y coordinate and the included angle of each boss 1011a, 1011b, the laser detector performs laser detection on each boss 1011a, 1011b, and then the Z coordinate of each boss 1011a, 1011b is obtained, so that the three-dimensional coordinates (X, Y, Z) of each boss 1011a, 1011b on the calibration path 101 and the included angle of the X axis and the Y axis can be calculated through the above two steps.
S103, performing path compensation on the processing path according to the correction data, that is, after obtaining the three-dimensional coordinates (X, Y, Z) of each of the bosses 1011a, 1011b on the calibration path 101 and the included angle between the X axis and the Y axis, performing motion parameter compensation on the linear module, thereby realizing compensation on the processing path.
According to the motion control compensation method provided by the embodiment of the invention, nine-point calibration is performed on each boss 1011a, 1011b of a calibration path 101 on a calibration tool 10, so as to calculate and obtain X, Y coordinates of each boss 1011a, 1011b and an included angle between an X axis and a Y axis in a coordinate system where each boss 1011a, 1011b is located, then each boss 1011a, 1011b on the calibration path 101 is detected by using a laser detector, so as to obtain a Z coordinate of each boss 1011a, 1011b, and X, Y, Z coordinates of each boss 1011a, 1011b and an included angle between an X axis and a Y axis in a coordinate system where each boss 1011a, 1011b is located are stored as correction data; and finally, path compensation is carried out on the processing path according to the correction data, so that the deviation of the processing path can be accurately calculated, and further path compensation is carried out, so that the processing path is more accurate and has higher precision.
Referring to fig. 3, in some embodiments of the invention, step S102 comprises:
s201, performing cross calibration calculation on the Mark point 102 on the calibration tool 10 to obtain a Mark point coordinate, wherein the Mark point 102 is also arranged on the calibration tool 10.
S202, calculating the initial coordinate of the boss 1011a corresponding to the initial position on the calibration path 101 according to the Mark point coordinate.
S203, performing nine-point calibration calculation on each boss 1011a, 1011b according to the initial coordinates of the boss 1011a at the starting position to obtain X, Y coordinates of each boss 1011a, 1011b and an included angle between the X axis and the Y axis in the coordinate system of each boss 1011a, 1011 b.
That is, Mark points 102 are pre-machined on the calibration tool 10, and the Mark points 102 can be selectively set at positions close to the starting position on the calibration path 101. And (4) performing cross calibration on the Mark point 102 through a vision camera, and calculating to obtain a Mark point coordinate. After the Mark point coordinates are obtained, the initial coordinates of the boss 1011a corresponding to the start position on the calibration path 101 may be calculated according to the Mark point coordinates. After determining the initial coordinates of the boss 1011a corresponding to the start-stop position on the calibration path 101, the vision camera may move to the boss 1011a at the start position, and sequentially perform nine-point calibration on each boss 1011a, 1011b along the calibration path 101, and calculate the X-coordinate and the Y-coordinate of each boss 1011a, 1011b, and the included angle between the X-axis and the Y-axis.
In this embodiment, through the above steps, the vision camera can sequentially scan the bosses 1011a and 1011b on each calibration path 101 from the start position on the calibration path 101, so as to perform nine-point calibration on the bosses 1011a and 1011b, and accurately and reliably determine the X coordinate and the Y coordinate of the bosses 1011a and 1011b, and the included angle between the X axis and the Y axis.
It can be understood that one or more start positions may be set according to the characteristics of the shape of the calibration path 101, and the calibration path 101 is divided into multiple segments by multiple start positions, for example, the calibration path 101 is a quadrilateral, the calibration path 101 may be divided into four segments by using the start point of each side of the quadrilateral as the start position, for the bosses 1011a, 1011b on each segment, nine-point calibration may be performed in sequence from the boss 1011a at the start position on the segment, and then the X coordinate and the Y coordinate of each boss 1011a, 1011b, and the included angle between the X axis and the Y axis are calculated.
Referring to fig. 4, in an embodiment of the present invention, step S201 includes:
s301, controlling the visual camera to move from the center point 103 on the calibration tool 10 to the Mark point 102 according to a first predetermined deviation between the center point 103 and the Mark point 102 on the calibration tool 10, where the calibration tool 10 further has a center point 103, and coordinates of the center point may be determined manually, that is, the center of the visual field of the visual camera is moved to the center point, and the coordinates of the center point may be determined by recording the moving distance of the visual camera on the X axis and the Y axis.
S302, performing cross calibration on the Mark point 102, calculating the actual deviation of the Mark point 102 relative to the central point 103, and determining the Mark point coordinate.
That is, the calibration tool 10 is predetermined to be machined with a center point 103, the center point 103 is located at the center of the calibration tool 10, and the Mark point 102 and the center point 103 have a first predetermined deviation on the X axis and the Y axis, and the first predetermined deviation can be obtained through measurement.
In this embodiment, the visual camera may be controlled to move from the center point 103 to the Mark point 102 according to the first predetermined deviation between the center point 103 and the Mark point 102, that is, the visual camera is controlled to move according to the first predetermined deviation, so that the visual camera may move to the vicinity of the Mark point 102. And performing cross calibration on the Mark point 102 through a vision camera to calculate a Mark point coordinate, wherein the Mark point coordinate is more accurate relative to a coordinate calculated according to the first preset deviation, and thus, the accurate Mark point coordinate can be calculated.
In one embodiment of the present invention, step S202 includes:
and calculating the initial coordinate of the boss 1011a corresponding to the initial position according to the Mark point coordinate and the second preset deviation between the boss 1011a corresponding to the initial position and the Mark point 102.
Since the Mark point 102 is disposed near the projection 1011a at the start position on the calibration path 101, and the second predetermined deviations on the X axis and the Y axis between the projection 1011a at the start position and the Mark point 102 can be obtained by measurement, after the Mark point coordinates are determined, the initial coordinates of the projection 1011a at the start position can be calculated from the Mark point coordinates plus the second predetermined deviations.
Referring to fig. 5, in one embodiment of the present invention, step S203 includes:
s401, controlling the vision camera to move to the position above the boss 1011a of the initial position according to the initial coordinate of the boss 1011a corresponding to the initial position, and calculating by utilizing a nine-point calibration algorithm to obtain X, Y coordinates of the boss 1011a of the initial position and an included angle between an X axis and a Y axis in a coordinate system where the coordinate system is located.
S402, controlling the vision camera to move to the position above the other adjacent bosses 1011b according to a third preset deviation between the two adjacent bosses 1011a, 1011b, and sequentially calculating X, Y coordinates of the other bosses 1011b and an included angle between an X axis and a Y axis in a coordinate system by using a nine-point calibration algorithm.
That is to say, after the initial coordinate of the boss 1011a at the initial position is obtained, the vision camera may be controlled to move to the vicinity of the boss 1011a at the initial position, and then nine-point calibration is performed on the boss 1011a at the initial position, so as to calculate and obtain the accurate X coordinate and Y coordinate of the boss 1011a at the initial position and the included angle between the X axis and the Y axis in the coordinate system where the accurate X coordinate and Y coordinate are located. Since the position deviation of the two adjacent bosses 1011a, 1011b along the X-axis and/or the Y-axis can be obtained by measurement after the respective bosses 1011a, 1011b are formed on the calibration tool 10, that is, the third predetermined deviation between the two adjacent bosses 1011a, 1011b can be obtained by measurement, after the X, Y coordinate of the boss 1011a at the initial position is determined, the initial position coordinate of the next boss 1011b can be calculated by the third predetermined deviation. And then, controlling the vision camera to move above the boss 1011b according to the initial position coordinate of the boss 1011a, then, performing nine-point calibration on the boss 1011b, and calculating to obtain the accurate X coordinate and Y coordinate of the boss 1011b and the included angle between the X axis and the Y axis in the coordinate system. By analogy, the vision camera may scan the respective bosses 1011a and 1011b in sequence from the boss 1011a at the initial position, perform nine-point calibration on the respective bosses 1011a and 1011b, and further calculate the X coordinate and the Y coordinate of the respective bosses 1011a and 1011b and the included angle between the X axis and the Y axis in the coordinate system where the X coordinate and the Y coordinate are located.
In this embodiment, through the third predetermined deviation between two adjacent bosses 1011a, 1011b, the vision camera can be quickly positioned to the next boss 1011b, so as to quickly scan each boss 1011a, 1011b according to the calibration path 101 and complete nine-point calibration, thereby improving the calibration efficiency. In addition, the next boss 1011b is quickly positioned through the third preset deviation between the two adjacent bosses 1011a and 1011b, the positioning is accurate and reliable, and further the coordinates obtained by nine-point calibration calculation are more accurate and reliable.
In one embodiment of the present invention, step S103 includes:
and controlling the laser detector to move above the bosses 1011a and 1011b according to the X, Y coordinates of the bosses 1011a and 1011b so as to detect the bosses 1011a and 1011 b.
That is, after the X, Y coordinates of the respective bosses 1011a and 1011b are obtained by scanning and nine-point calibration of the respective bosses 1011a and 1011b using the vision camera, in order to determine the Z coordinates of the respective bosses 1011a and 1011b, the laser detector may be controlled to move according to the X, Y coordinates of the respective bosses 1011a and 1011b, and then sequentially move above the respective bosses 1011a and 1011b, and perform laser detection on the respective bosses 1011a and 1011b, thereby obtaining the Z coordinates of the respective bosses 1011a and 1011 b.
In this embodiment, since the laser detector is positioned by the X and Y coordinates of the bosses 1011a and 1011b, the laser detector can be rapidly and accurately moved above the bosses 1011a and 1011b, and further, the Z coordinates of the bosses 1011a and 1011b can be rapidly and accurately detected.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of a motion control calibration and compensation apparatus provided by an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown. Specifically, the motion control calibration and compensation device comprises:
the calibration unit 501 is configured to perform nine-point calibration on each of the bosses 1011a and 1011b of the calibration path 101 on the calibration tool 10, so as to calculate an X, Y coordinate of each of the bosses 1011a and 1011b and an included angle between the X axis and the Y axis in a coordinate system where each of the bosses 1011a and 1011b is located, where the calibration tool 10 has the calibration path 101 that is consistent with the machining path, and the calibration path 101 includes a plurality of the bosses 1011a and 1011b that are sequentially arranged according to the machining path.
The detecting unit 502 is configured to detect each of the bosses 1011a and 1011b on the calibration path 101 by using a laser detector to obtain a Z coordinate of each of the bosses 1011a and 1011b, and store the X, Y, Z coordinate of each of the bosses 1011a and 1011b and an included angle between an X axis and a Y axis in a coordinate system where each of the bosses 1011a and 1011b is located as correction data.
And a compensation unit 503, configured to perform path compensation on the processing path according to the correction data.
Referring to fig. 7, in an embodiment of the present invention, the calibration unit 501 includes:
the first calibration module 601 is configured to perform cross calibration calculation on the Mark point 102 on the calibration tool 10 to obtain a Mark point coordinate, where the Mark point 102 is also provided on the calibration tool 10.
The first calculating module 602 is configured to calculate an initial coordinate of the boss 1011a corresponding to the initial position on the calibration path 101 according to the Mark point coordinate.
The second calibration module 603 is configured to perform nine-point calibration on each of the bosses 1011a and 1011b according to the initial coordinates of the boss 1011a at the initial position to obtain X, Y coordinates of each of the bosses 1011a and 1011b and an included angle between the X axis and the Y axis in the coordinate system where each of the bosses 1011a and 1011b is located.
Referring to fig. 8, in an embodiment of the present invention, the first calibration module 601 includes:
a first control module 701, configured to control the vision camera to move from the center point 103 on the calibration tool 10 to the Mark point 102 according to a first predetermined deviation between the center point 103 and the Mark point 102 on the calibration tool 10, where the calibration tool 10 further has the center point 103;
the first calibration submodule 702 is configured to perform cross calibration on the Mark point 102, calculate an actual deviation of the Mark point 102 with respect to the central point 103, and determine a Mark point coordinate.
In an embodiment of the present invention, the first calculating module 602 is specifically configured to:
and calculating the initial coordinate of the boss 1011a corresponding to the initial position according to the Mark point coordinate and the second preset deviation between the boss 1011a corresponding to the initial position and the Mark point 102.
Referring to FIG. 9, in one embodiment of the present invention, the second calibration module 603 includes:
the second calibration submodule 801 is used for controlling the visual camera to move to the position above the boss 1011a of the initial position according to the initial coordinate of the boss 1011a corresponding to the initial position, and calculating by using a nine-point calibration algorithm to obtain X, Y coordinates of the boss 1011a of the initial position and an included angle between an X axis and a Y axis in a coordinate system where the coordinate system is located;
and the third calibration submodule 802 is configured to control the vision camera to move to the position above the other adjacent bosses 1011b according to a third predetermined deviation between the two adjacent bosses 1011a and 1011b, and sequentially calculate X, Y coordinates of the other bosses 1011b and an included angle between the X axis and the Y axis in the coordinate system where the coordinates are located by using a nine-point calibration algorithm.
In an embodiment of the present invention, the detecting unit 502 is specifically configured to:
and controlling the laser detector to move above the bosses 1011a and 1011b according to the X, Y coordinates of the bosses 1011a and 1011b so as to detect the bosses 1011a and 1011 b.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device or system type embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
According to the motion control calibration and compensation device provided by the embodiment of the invention, nine-point calibration is performed on each boss 1011a, 1011b of the calibration path 101 on the calibration tool 10, so as to calculate and obtain X, Y coordinates of each boss 1011a, 1011b and an included angle between the X axis and the Y axis in the coordinate system where each boss 1011a, 1011b is located, then each boss 1011a, 1011b on the calibration path 101 is detected by using a laser detector, so as to obtain a Z coordinate of each boss 1011a, 1011b, and X, Y, Z coordinates of each boss 1011a, 1011b and an included angle between the X axis and the Y axis in the coordinate system where each boss 1011a, 1011b is located are stored as correction data; and finally, path compensation is carried out on the processing path according to the correction data, so that the deviation of the processing path can be accurately calculated, and further path compensation is carried out, so that the processing path is more accurate and has higher precision.
Referring to fig. 6, fig. 6 shows a computer device 900 provided by the embodiment of the present invention, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the processor implements the motion control compensation method as described above.
Illustratively, the computer program 9021 may be partitioned into one or more modules/units that are stored in the memory 902 and executed by the processor 901 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program 9021 in the computer device 900.
The computer device 900 may include, but is not limited to, a processor 901, a memory 902. Those skilled in the art will appreciate that the figure is merely an example of a computer device 900 and is not intended to limit the computer device 900 and that the computer device 900 may include more or less components than those shown, or some of the components may be combined, or different components, e.g., the computer device 900 may also include input output devices, network access devices, buses, etc.
The Processor 901 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, discrete default hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 902 may be an internal storage unit of the computer device 900, such as a hard disk or a memory of the computer device 900. The memory 902 may also be an external storage device of the computer device 900, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the computer device 900. Further, the memory 902 may also include both internal and external storage for the computer device 900. The memory 902 is used for storing the computer program 9021 and other programs and data required by the computer device 900. The memory 902 may also be used to temporarily store data that has been output or is to be output.
Embodiments of the present invention also provide a computer storage medium, on which a computer program 9021 is stored, where the program is executed by the processor 901 to implement the motion control compensation method described above.
The computer program 9021 may be stored in a computer readable storage medium, and when being executed by the processor 901, the computer program 9021 may implement the steps of the above method embodiments. Wherein the computer program 9021 includes computer program code, which may be in a source code form, an object code form, an executable file or some intermediate form, and so on. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
The modules or units in the system of the embodiment of the invention can be combined, divided and deleted according to actual needs.
Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic pre-set hardware or in a combination of computer software and electronic pre-set hardware. Whether these functions are performed by pre-determined hardware or software depends on the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided herein, it should be understood that the disclosed apparatus/computer device 900 and method may be implemented in other ways. For example, the above-described embodiment of apparatus/computer device 900 is merely illustrative, and for example, the division of the modules or units is merely a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A motion control compensation method, comprising:
nine-point calibration is carried out on each boss of a calibration path on a calibration tool, so that X, Y coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located are obtained through calculation, wherein the calibration path consistent with a machining path is arranged on the calibration tool, and the calibration path comprises a plurality of bosses which are sequentially arranged according to the machining path;
detecting each boss on the calibration path by using a laser detector to obtain a Z coordinate of each boss, and storing X, Y, Z coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located as correction data;
and performing path compensation on the processing path according to the correction data.
2. The motion control compensation method of claim 1, wherein the nine-point calibration of each boss of the calibration path on the calibration tool to calculate the X, Y coordinate of each boss and the included angle between the X-axis and the Y-axis in the coordinate system of each boss comprises:
performing cross calibration calculation on Mark points on a calibration tool to obtain Mark point coordinates, wherein the calibration tool is also provided with the Mark points;
calculating the initial coordinate of the boss corresponding to the initial position on the calibration path according to the Mark point coordinate;
and carrying out nine-point calibration calculation on each boss according to the initial coordinates of the boss at the initial position to obtain X, Y coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located.
3. The motion control compensation method of claim 2, wherein the cross calibration calculation of the Mark point on the calibration tool to obtain the Mark point coordinate comprises:
controlling the vision camera to move from the central point on the calibration tool to the Mark point according to a first preset deviation between the central point on the calibration tool and the Mark point, wherein the calibration tool also has the central point;
and performing cross calibration on the Mark point, calculating the actual deviation of the Mark point relative to the central point and determining the coordinate of the Mark point.
4. The motion control compensation method according to claim 2, wherein the calculating of the initial coordinates of the boss corresponding to the initial position on the calibration path according to the Mark point coordinates comprises:
and calculating the initial coordinate of the boss corresponding to the initial position according to the Mark point coordinate and a second preset deviation between the boss corresponding to the initial position and the Mark point.
5. The motion control compensation method of claim 2, wherein the calculation of X, Y coordinates of each boss and the included angle between the X axis and the Y axis in the coordinate system of each boss by performing a nine-point calibration on each boss according to the initial coordinates of the boss at the start position comprises:
controlling the vision camera to move to the position above the boss of the initial position according to the initial coordinate of the boss corresponding to the initial position, and calculating by using a nine-point calibration algorithm to obtain X, Y coordinates of the boss of the initial position and an included angle between an X axis and a Y axis in a coordinate system where the boss is located;
and controlling the vision camera to move to the upper part of other adjacent bosses according to a third preset deviation between two adjacent bosses, and sequentially calculating X, Y coordinates of the other bosses and the included angles of the X axis and the Y axis in the coordinate system by using a nine-point calibration algorithm.
6. The motion control compensation method of claim 1, wherein the detecting each of the plurality of bosses on the calibration path with a laser detector comprises:
and controlling the laser detector to move above the boss according to the X, Y coordinate of the boss so as to detect the boss.
7. A motion control calibration and compensation device, comprising:
the calibration unit is used for carrying out nine-point calibration on each boss of a calibration path on a calibration tool so as to calculate and obtain X, Y coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located, wherein the calibration tool is provided with the calibration path consistent with a machining path, and the calibration path comprises a plurality of bosses which are sequentially arranged according to the machining path;
the detection unit is used for detecting each boss on the calibration path by using a laser detector to obtain a Z coordinate of each boss, and storing X, Y, Z coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located as correction data;
and the compensation unit is used for performing path compensation on the processing path according to the correction data.
8. The motion control calibration and compensation apparatus of claim 1, wherein the calibration unit comprises:
the calibration device comprises a first calibration module, a second calibration module and a calibration module, wherein the first calibration module is used for performing cross calibration calculation on Mark points on a calibration tool to obtain Mark point coordinates, and the calibration tool is also provided with the Mark points;
the first calculation module is used for calculating the initial coordinates of the boss corresponding to the initial position on the calibration path according to the Mark point coordinates;
and the second calibration module is used for carrying out nine-point calibration calculation on each boss according to the initial coordinates of the boss at the initial position to obtain X, Y coordinates of each boss and an included angle between an X axis and a Y axis in a coordinate system where each boss is located.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the motion control compensation method according to any one of claims 1 to 6 when executing the computer program.
10. A computer storage medium having a computer program stored thereon, the program, when being executed by a processor, implementing a motion control compensation method according to any one of claims 1 to 6.
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