CN114670004B - Screw transfer method, apparatus, controller, and computer-readable storage medium - Google Patents

Screw transfer method, apparatus, controller, and computer-readable storage medium Download PDF

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Publication number
CN114670004B
CN114670004B CN202210332093.2A CN202210332093A CN114670004B CN 114670004 B CN114670004 B CN 114670004B CN 202210332093 A CN202210332093 A CN 202210332093A CN 114670004 B CN114670004 B CN 114670004B
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screw
groove
reference point
point position
workpiece
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CN114670004A (en
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请求不公布姓名
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Guangdong Lyric Robot Automation Co Ltd
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Guangdong Lyric Robot Intelligent Automation Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The embodiment of the invention provides a screw transferring method, a device, a controller and a computer readable storage medium, wherein a workpiece provided with a groove is shot through a shooting device to obtain a target image; the two sides of the groove are provided with first groove walls, a first bending position is arranged between each first groove wall and the end face of the workpiece, the groove bottom of the groove is used for installing a screw rod, and the workpiece is provided with an arc mark coaxially arranged with the edge of a nut used for being connected to the screw rod; identifying an arc mark and two first bending positions from the target image; calculating a first reference point position between the two first bending positions and a circle center position of the arc mark; generating a target path according to the first reference point position and the circle center position, and driving the screw rod to move to the bottom of the groove along the target path through the driving device. Since collision wear between the screw and the groove wall of the groove can be reduced when the screw is transferred along the target path, screw transfer efficiency, accuracy, fixing effect and workpiece integrity can be improved.

Description

Screw transfer method, apparatus, controller, and computer-readable storage medium
Technical Field
The invention belongs to the technical field of machining and assembling, and particularly relates to a screw conveying method, a device, a controller and a computer readable storage medium.
Background
For partial workpiece, the end face is provided with a groove, and the two sides of the opening of the groove form a bending structure, the end part of the groove away from the end face forms a position suitable for fixing the screw, and in the prior art, the mode of feeding the screw into the fixing position is generally as follows: the screw is plugged into the groove in a manual mode, the screw is pushed to move to a fixed position along the length direction of the groove, the screw and the side wall of the groove are rubbed in the mode, the screw and the wall surface are damaged, the integrity of the screw and a workpiece is affected, and the contact surface of the screw and the workpiece cannot be fully contacted due to the damage, so that the fixing effect of the screw is affected; in addition, the manual mode also easily leads to the screw rod to reach fixed position accurately, further influences the fixed effect of screw rod.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the invention provides a screw transferring method, a device, a controller and a computer readable storage medium, which can improve the screw transferring efficiency and accuracy, reduce the collision abrasion between the screw and the groove wall of a groove, and improve the fixing effect of the screw and the integrity of a workpiece.
In a first aspect, an embodiment of the present invention provides a screw transferring method, which is applied to a controller in a screw transferring system, where the screw transferring system further includes a photographing device and a driving device, and the controller is electrically connected to the photographing device and the driving device, respectively; the screw transferring method comprises the following steps: shooting the workpiece provided with the groove through the shooting device to obtain a target image; the two sides of the groove are respectively provided with a first groove wall, a first bending position is formed between each first groove wall and the end face of the workpiece, the groove bottom of the groove is used for installing a screw rod, and the workpiece is also provided with an arc mark coaxially arranged with the edge of a nut connected to the screw rod; identifying the target image, and identifying the arc mark and the two first bending positions; calculating a first reference point position between the two first bending positions and a circle center position of the arc mark, wherein the distance between the first reference point position and the first groove wall on any side is larger than the radius of the screw; generating a target path according to the first reference point position and the circle center position, and driving the screw rod through the driving device so as to enable the screw rod to be transferred to the bottom of the groove along the target path.
In some embodiments, the identifying the target image, identifying two of the first bending locations, includes: identifying a first straight line corresponding to an end face of the workpiece from the target image; identifying a second straight line corresponding to the first groove wall from the target image; and taking the intersection point position of the first straight line and the second straight line as the first bending position.
In some embodiments, the calculating the first reference point position between the two first bending positions includes: positioning the two first bending positions to obtain two first coordinate information; and calculating the coordinate information of the midpoint position of the two first coordinate information to serve as a first reference point position between the two first bending positions.
In some embodiments, a second groove wall is arranged between the first groove wall and the groove bottom at each side, and a second bending position is formed between the first groove wall and the second groove wall of the groove; the screw transferring method further comprises the following steps: identifying the target image, identifying two second bending positions, and calculating a second reference point position between the two second bending positions, wherein the distance between the second reference point position and the second groove wall on any side is larger than the radius of the screw; correspondingly, the generating the target path according to the first reference point position and the circle center position includes: and generating a target path according to the first reference point position, the second reference point position and the circle center position.
In some embodiments, the identifying the target image, identifying two second bending positions, includes: identifying a second straight line corresponding to the first groove wall from the target image; identifying a third straight line corresponding to the second groove wall from the target image; and taking the intersection point position of the second straight line and the third straight line as the second bending position.
In some embodiments, the calculating the second reference point position between the two second bending positions includes: positioning the two second bending positions to obtain two second coordinate information; and calculating the coordinate information of the midpoint position of the two second coordinate information to serve as a second reference point position between the two second bending positions.
In some embodiments, the target path comprises a first target path and a second target path, wherein the first target path is a path from the first reference point position to the second reference point position, and the second target path is a path from the second reference point position to the center position; the driving device drives the screw rod to move the screw rod to the bottom of the groove along the target path, and the driving device comprises: the driving device drives the screw rod to move along the first target path so as to enable the screw rod to be transferred from the first reference point position to the second reference point position; calculating a deviation angle between the second target path and the first target path; and controlling the transferring direction of the screw rod to rotate by the deviation angle through the driving device, and driving the screw rod to move along the second target path so as to transfer the screw rod from the second reference point position to the circle center position.
In a second aspect, an embodiment of the present invention further provides a screw transfer device, including: the image acquisition unit is used for shooting the workpiece provided with the groove through the shooting device to obtain a target image; the two sides of the groove are respectively provided with a first groove wall, a first bending position is formed between each first groove wall and the end face of the workpiece, the groove bottom of the groove is used for installing a screw rod, and the workpiece is also provided with an arc mark coaxially arranged with the edge of a nut connected to the screw rod; the image recognition unit is used for recognizing the target image and recognizing the arc mark and the two first bending positions; the calculating unit is used for calculating a first reference point position between the two first bending positions and a circle center position of the arc mark, wherein the distance between the first reference point position and the first groove wall at any side is larger than the radius of the screw; the path generating unit is used for generating a target path according to the first reference point position and the circle center position, and driving the screw rod through the driving device so that the screw rod can be transferred to the bottom of the groove along the target path.
In a third aspect, an embodiment of the present invention further provides a controller, including: the screw conveying method according to the first aspect is realized by a memory, a processor and a computer program stored in the memory and capable of running on the processor when the processor executes the computer program.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions for performing the screw transfer method according to the first aspect.
The embodiment of the invention comprises the following steps: in the process of transferring the screw to the groove bottom of the workpiece, firstly, a controller shoots the workpiece provided with the groove through a shooting device to obtain a target image; the two sides of the groove are respectively provided with a first groove wall, a first bending position is formed between each first groove wall and the end face of the workpiece, the groove bottom of the groove is used for installing a screw rod, and the workpiece is also provided with an arc mark coaxially arranged with the edge of a nut used for being connected to the screw rod; then, the controller identifies the target image, and identifies the arc mark and the two first bending positions; then, the controller calculates a first reference point position between the two first bending positions and a circle center position of the circular arc mark, wherein the distance between the first reference point position and the first groove wall at any side is larger than the radius of the screw; and finally, the controller generates a target path according to the first reference point position and the circle center position, and drives the screw rod through the driving device so that the screw rod is transferred to the bottom of the groove along the target path. According to the technical scheme of the embodiment of the invention, the embodiment of the invention can generate the target path according to the first reference point position and the circle center position obtained by target image recognition calculation, and the collision abrasion between the screw and the groove wall of the groove can be reduced when the screw is transferred along the target path, so that the integrity of the screw and the workpiece can be improved; secondly, as abrasion is reduced between the contact surfaces of the screw and the workpiece, the contact surfaces of the screw and the workpiece can be fully contacted, and the fixing effect of the screw is improved; in addition, the embodiment of the invention can enable the screw to accurately reach the fixed position along the target path in an automatic control mode, so that the fixing effect of the screw can be further improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate and do not limit the invention.
FIG. 1 is a schematic view of a grooved workpiece according to one embodiment of the present invention;
FIG. 2 is a schematic view of a grooved workpiece according to another embodiment of the present invention;
FIG. 3 is a schematic view of a grooved workpiece according to another embodiment of the present invention;
FIG. 4 is a schematic view of a grooved workpiece according to another embodiment of the invention;
FIG. 5 is a flow chart of a screw transfer method provided by one embodiment of the present invention;
FIG. 6 is a flow chart of a screw transfer method according to another embodiment of the present invention;
FIG. 7 is a flow chart of a screw transfer method according to another embodiment of the present invention;
FIG. 8 is a flow chart of a screw transfer method according to another embodiment of the present invention;
FIG. 9 is a flow chart of a screw transfer method according to another embodiment of the present invention;
FIG. 10 is a flow chart of a screw transfer method according to another embodiment of the present invention;
FIG. 11 is a flow chart of a screw transfer method according to another embodiment of the present invention;
FIG. 12 is a schematic illustration of the location of a plurality of straight lines and intersections in a grooved workpiece, in accordance with one embodiment of the present invention;
FIG. 13 is a schematic view of a grooved workpiece having a deviation angle between a second target path and a first target path, in accordance with one embodiment of the invention;
FIG. 14 is a schematic view showing the structure of a screw conveyer according to an embodiment of the present invention;
fig. 15 is a schematic structural diagram of a controller according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that although functional block division is performed in a device diagram and a logic sequence is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart. The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to be limiting of the invention.
At present, to some work pieces, its terminal surface is provided with the recess to recess opening part both sides form the structure of buckling, and the tip that the terminal surface was kept away from to the recess forms the position that is suitable for fixing the screw rod, in the prior art, send into the screw rod fixed position's mode usually: the screw is plugged into the groove in a manual mode, the screw is pushed to move to a fixed position along the length direction of the groove, the screw and the side wall of the groove are rubbed in the mode, the screw and the wall surface are damaged, the integrity of the screw and a workpiece is affected, and the contact surface of the screw and the workpiece cannot be fully contacted due to the damage, so that the fixing effect of the screw is affected; in addition, the manual mode also easily leads to the screw rod to reach fixed position accurately, further influences the fixed effect of screw rod.
Based on this, embodiments of the present invention provide a screw transfer method, a screw transfer device, a controller, and a computer-readable storage medium, including the steps of: in the process of transferring the screw to the groove bottom of the workpiece, firstly, a controller shoots the workpiece provided with the groove through a shooting device to obtain a target image; the two sides of the groove are respectively provided with a first groove wall, a first bending position is formed between each first groove wall and the end face of the workpiece, the groove bottom of the groove is used for installing a screw rod, and the workpiece is also provided with an arc mark coaxially arranged with the edge of a nut connected to the screw rod; then, the controller identifies the target image, and identifies the arc mark and the two first bending positions; then, the controller calculates a first reference point position between the two first bending positions and a circle center position of the circular arc mark, wherein the distance between the first reference point position and the first groove wall at any side is larger than the radius of the screw; and finally, the controller generates a target path according to the first reference point position and the circle center position, and drives the screw rod through the driving device so that the screw rod is transferred to the bottom of the groove along the target path. According to the technical scheme of the embodiment of the invention, the embodiment of the invention can generate the target path according to the first reference point position and the circle center position obtained by target image recognition calculation, and the collision abrasion between the screw and the groove wall of the groove can be reduced when the screw is transferred along the target path, so that the integrity of the screw and the workpiece can be improved; secondly, as abrasion is reduced between the contact surfaces of the screw and the workpiece, the contact surfaces of the screw and the workpiece can be fully contacted, and the fixing effect of the screw is improved; in addition, the embodiment of the invention can enable the screw to accurately reach the fixed position along the target path in an automatic control mode, so that the fixing effect of the screw can be further improved.
The embodiments of the present invention are further described below with reference to the accompanying drawings.
With respect to the workpiece provided with the groove in the embodiment of the present invention, the structure thereof may be referred to, but not limited to, the following fig. 1 to 4, and the structure is specifically as follows:
as shown in fig. 1, fig. 1 is a schematic structural diagram of a workpiece with a groove according to an embodiment of the present invention.
Specifically, the end face 110 of the workpiece 100 shown in fig. 1 is provided with a groove 200, wherein the groove wall of the groove 200 comprises a first groove wall 210 and a second groove wall 220, a first bending position 310 is formed between the first groove wall 210 of the groove 200 and the end face 110 of the workpiece 100, a second bending position 320 is formed between the first groove wall 210 of the groove 200 and the second groove wall 220, the groove bottom of the groove 200 is used for installing a screw, and the surface of the workpiece 100 is further provided with an arc mark 120 coaxially arranged with the edge of the nut for being connected to the screw.
In addition, as shown in fig. 2, fig. 2 is a schematic structural view of a workpiece with a groove according to another embodiment of the present invention. The workpiece shown in fig. 2 differs from the workpiece shown in fig. 1 in that: the workpiece shown in fig. 1 is provided with a second bending location 320, whereas the workpiece shown in fig. 2 is not provided with a second bending location 320.
In addition, as shown in fig. 3, fig. 3 is a schematic structural view of a workpiece with a groove according to another embodiment of the present invention. The workpiece shown in fig. 3 differs from the workpiece shown in fig. 1 in that: the angles of the two first bending locations 310 in the workpiece shown in fig. 1 are the same, while the angles of the two first bending locations 310 in the workpiece shown in fig. 3 are different.
In addition, as shown in fig. 4, fig. 4 is a schematic structural view of a workpiece with a groove according to another embodiment of the present invention. The workpiece shown in fig. 4 differs from the workpiece shown in fig. 1 in that: the two first bending locations 310 in the workpiece shown in fig. 1 are not right angles, whereas the angles of the two first bending locations 310 in the workpiece shown in fig. 4 are right angles.
It should be noted that, the structure of the workpiece with the groove in the embodiment of the present invention is not limited to the structure shown in fig. 1 to 4, and may be other structures of the workpiece with the groove.
Based on the above-described embodiment of the grooved workpiece in fig. 1 to 4, various embodiments of the screw transfer method of the embodiment of the present invention are presented below.
As shown in fig. 5, fig. 5 is a flowchart of a screw transfer method according to an embodiment of the present invention; embodiments of the present invention are capable of transporting a screw to the bottom of the groove shown in fig. 1 to 4 by a screw transporting system; the screw conveying system comprises a controller, a shooting device and a driving device, wherein the controller is respectively electrically connected with the shooting device and the driving device, and the electric connection mode comprises but is not limited to communication connection.
The screw transfer method of the embodiment of the invention is applied to a controller in a screw transfer system, and the screw transfer method can comprise, but is not limited to, step S100, step S200, step S300 and step S400.
Step S100, shooting a workpiece provided with a groove through a shooting device to obtain a target image;
step 200, identifying a target image, and identifying an arc mark and two first bending positions;
step S300, calculating a first reference point position between two first bending positions and a circle center position of the circular arc mark, wherein the distance between the first reference point position and the first groove wall at any side is larger than the radius of the screw;
and S400, generating a target path according to the first reference point position and the circle center position, and driving the screw rod by the driving device so as to enable the screw rod to be transferred to the bottom of the groove along the target path.
In the process of transferring the screw to the bottom of the groove of the workpiece, firstly, a controller shoots the workpiece provided with the groove through a shooting device to obtain a target image; then, the controller identifies the target image, and identifies the arc mark and the two first bending positions; then, the controller calculates a first reference point position between the two first bending positions and a circle center position of the circular arc mark; and finally, the controller generates a target path according to the first reference point position and the circle center position, and drives the screw rod through the driving device so that the screw rod is transferred to the bottom of the groove along the target path. According to the technical scheme of the embodiment of the invention, the embodiment of the invention can generate the target path according to the first reference point position and the circle center position obtained by target image recognition calculation, and the collision abrasion between the screw and the groove wall of the groove can be reduced when the screw is transferred along the target path, so that the integrity of the screw and the workpiece can be improved; secondly, as abrasion is reduced between the contact surfaces of the screw and the workpiece, the contact surfaces of the screw and the workpiece can be fully contacted, and the fixing effect of the screw is improved; in addition, the embodiment of the invention can enable the screw to accurately reach the fixed position along the target path in an automatic control mode, so that the fixing effect of the screw can be further improved.
In the above step S400, the screw is driven by the driving device, but the method is not limited to a method in which the screw is held by a manipulator, or a method in which the screw is attracted by a magnet by a manipulator.
In addition, as shown in fig. 6, fig. 6 is a flowchart of a screw transferring method according to another embodiment of the present invention; regarding the recognition of the target image in the above step S200, two first bending positions are recognized, including but not limited to steps S210, S220, and S230.
Step S210, identifying a first straight line corresponding to the end face of the workpiece from the target image;
step S220, identifying a second straight line corresponding to the first groove wall from the target image;
in step S230, the intersection point of the first line and the second line is set as the first bending position.
Specifically, since the first bending position is the intersection point position between the first groove wall of the groove and the end face of the workpiece, when identifying the first bending position, the embodiment of the invention needs to identify the first straight line corresponding to the end face of the workpiece from the target image, identify the second straight line corresponding to the first groove wall of the groove from the target image, calculate the intersection point position of the first straight line and the second straight line, and take the intersection point position of the first straight line and the second straight line as the first bending position.
It should be noted that, in the embodiment of the present invention, the groove is provided with two groove walls, so that two first bending positions are identified from the target image in the embodiment of the present invention.
In addition, as shown in fig. 7, fig. 7 is a flowchart of a screw transferring method according to another embodiment of the present invention; the first reference point position between the two first bending positions calculated in the above step S300 includes, but is not limited to, step S310 and step S320.
Step S310, positioning the two first bending positions to obtain two first coordinate information;
in step S320, coordinate information of a midpoint position of the two first coordinate information is calculated as a first reference point position between the two first bending positions.
Specifically, the embodiment of the invention can establish an initial coordinate system according to the target image, and then, position two first bending positions in the target image to obtain first coordinate information corresponding to the first bending positions; because the number of the first bending positions is two, two first coordinate information can be obtained in the embodiment of the invention; and finally, calculating the coordinate information of the midpoint position of the two first coordinate information based on the two first coordinate information, wherein the coordinate information is used as a first reference point position between the two first bending positions.
In addition, as shown in fig. 8, fig. 8 is a flowchart of a screw transferring method according to another embodiment of the present invention; the embodiment of the invention can transfer the screw to the bottom of the groove shown in fig. 1 or 3 through the screw transfer system; the screw conveying system comprises a controller, a shooting device and a driving device, wherein the controller is respectively electrically connected with the shooting device and the driving device, and the electric connection mode comprises but is not limited to communication connection.
The screw transfer method of the embodiment of the invention is applied to a controller in a screw transfer system, and the screw transfer method can comprise, but is not limited to, step S500, step S600, step S700 and step S800.
Step S500, shooting a workpiece provided with a groove through a shooting device to obtain a target image;
step S600, identifying a target image, and identifying an arc mark, two first bending positions and two second bending positions;
step S700, calculating a first reference point position between two first bending positions, a second reference point position between two second bending positions and a circle center position of the circular arc mark, wherein the distance between the first reference point position and a first groove wall on any side is larger than the radius of the screw, and the distance between the second reference point position and a second groove wall on any side is larger than the radius of the screw;
Step S800, generating a target path according to the first reference point position, the second reference point position and the circle center position, and driving the screw rod through the driving device so that the screw rod is transferred to the bottom of the groove along the target path.
In the process of transferring the screw to the bottom of the groove of the workpiece, firstly, a controller shoots the workpiece provided with the groove through a shooting device to obtain a target image; then, the controller identifies the target image, and identifies the arc mark, the two first bending positions and the two second bending positions; then, the controller calculates a first reference point position between the two first bending positions, a second reference point position between the two second bending positions and a circle center position of the circular arc mark; and finally, the controller generates a target path according to the first reference point position, the second reference point position and the circle center position, and drives the screw rod through the driving device so that the screw rod is transferred to the bottom of the groove along the target path. According to the technical scheme of the embodiment of the invention, the embodiment of the invention can generate the target path according to the first reference point position, the second reference point position and the circle center position obtained by target image recognition calculation, and the collision abrasion between the screw and the groove wall of the groove can be reduced when the screw is transferred along the target path, so that the integrity of the screw and the workpiece can be improved; secondly, as abrasion is reduced between the contact surfaces of the screw and the workpiece, the contact surfaces of the screw and the workpiece can be fully contacted, and the fixing effect of the screw is improved; in addition, the embodiment of the invention can enable the screw to accurately reach the fixed position along the target path in an automatic control mode, so that the fixing effect of the screw can be further improved.
In addition, as shown in fig. 9, fig. 9 is a flowchart of a screw transferring method according to another embodiment of the present invention; regarding the recognition processing of the target image in the above-described step S600, two second bending bits are recognized, including but not limited to, steps S610, S620, and S630.
Step S610, identifying a second straight line corresponding to the first groove wall from the target image;
step S620, identifying a third straight line corresponding to the second groove wall from the target image;
in step S630, the intersection point of the second line and the third line is set as the second bending position.
Specifically, since the second bending position is the intersection point position between the first groove wall and the second groove wall of the groove, when identifying the second bending position, the embodiment of the invention needs to identify the second straight line corresponding to the first groove wall of the groove from the target image, identify the third straight line corresponding to the second groove wall of the groove from the target image, calculate the intersection point position of the second straight line and the third straight line, and take the intersection point position of the second straight line and the third straight line as the second bending position.
It should be noted that, in the embodiment of the present invention, the groove is provided with two groove walls, so that two second bending positions are identified from the target image in the embodiment of the present invention.
In addition, as shown in fig. 10, fig. 10 is a flowchart of a screw transferring method according to another embodiment of the present invention; the second reference point position between the two second bending positions calculated in the above step S700 includes, but is not limited to, step S710 and step S720.
Step S710, positioning the two second bending positions to obtain two second coordinate information;
step S720, calculating the coordinate information of the midpoint position of the two second coordinate information as the second reference point position between the two second bending positions.
Specifically, the embodiment of the invention can establish an initial coordinate system according to the target image, and then, position two second bending positions in the target image to obtain second coordinate information corresponding to the second bending positions; because the number of the second bending positions is two, two second coordinate information can be obtained in the embodiment of the invention; and finally, calculating the coordinate information of the midpoint position of the two second coordinate information based on the two second coordinate information, wherein the coordinate information is used as a second reference point position between the two second bending positions.
In addition, as shown in fig. 11, fig. 11 is a flowchart of a screw conveying method according to another embodiment of the present invention; specifically, the target path comprises a first target path and a second target path, wherein the first target path is a path from a first reference point position to a second reference point position, and the second target path is a path from the second reference point position to a circle center position. Regarding the step S800, the driving device drives the screw to move the screw to the bottom of the groove along the target path, which includes, but is not limited to, step S810, step S820, and step S830.
Step 810, driving the screw rod to move along a first target path by a driving device so as to enable the screw rod to be transferred from a first reference point position to a second reference point position;
step S820, calculating the deviation angle between the second target path and the first target path;
in step S830, the driving device controls the moving direction of the screw to rotate by a deviating angle, and drives the screw to move along the second target path, so that the screw is moved from the second reference point position to the circle center position.
Specifically, the target path of the embodiment of the invention can be divided into a first target path and a second target path, firstly, the embodiment of the invention can drive the screw rod to move from a first reference point position to a second reference point position along the first target path through the driving device, and then, as a straight line where the second target path is located and a straight line where the first target path is located may not be parallel and have a deviation angle, when the deviation angle exists, the embodiment of the invention can control the moving direction of the screw rod to rotate the deviation angle through the driving device after the control screw rod moves from the first reference point position to the second reference point position, and drive the screw rod to move from the second reference point position to the circle center position along the second target path.
According to the technical scheme of the embodiment of the invention, the embodiment of the invention can generate the target path according to the first reference point position, the second reference point position and the circle center position obtained by target image recognition calculation, and the collision abrasion between the screw and the groove wall of the groove can be reduced when the screw is transferred along the target path, so that the integrity of the screw and the workpiece can be improved; secondly, as abrasion is reduced between the contact surfaces of the screw and the workpiece, the contact surfaces of the screw and the workpiece can be fully contacted, and the fixing effect of the screw is improved; in addition, the embodiment of the invention can enable the screw to accurately reach the fixed position along the target path in an automatic control mode, so that the fixing effect of the screw can be further improved.
Based on the embodiments of fig. 1 to 11, an overall scheme of the embodiment of the present invention is proposed, which is specifically as follows:
fig. 12 is a schematic view showing positions of a plurality of straight lines and intersections in a grooved workpiece according to an embodiment of the present invention, and fig. 13 is a schematic view showing an angle of deviation between a second target path and a first target path in the grooved workpiece according to an embodiment of the present invention, as shown in fig. 12 and 13. The screw transferring method of the embodiment of the invention comprises the following steps:
Step one: inputting a target image;
step two: acquiring a straight line L7 where the end face of the workpiece is located and a straight line L8 where the first groove wall of the groove is located by adopting an edge finding tool, and acquiring an intersection point P5 (X5, Y5) by using an intersection point finding tool;
step three: acquiring a straight line L9 where the end face of the workpiece is located and a straight line L10 where the first groove wall of the groove is located by adopting an edge finding tool, and acquiring an intersection point P6 (X6, Y6) by using an intersection point finding tool;
step four: calculating a midpoint P7 ((X5+X6)/2, (Y5+Y6)/2) between P5 and P6 by coordinates of the intersection points P5 and P6;
step five: acquiring a straight line L1 where a first groove wall of the groove is located and a straight line L2 where a second groove wall of the groove is located by adopting an edge finding tool, and obtaining an intersection point P1 (X1, Y1) by using an intersection point finding tool;
step six: acquiring a straight line L3 where a first groove wall of the groove is positioned and a straight line L4 where a second groove wall of the groove is positioned by adopting an edge finding tool, and obtaining an intersection point P2 (X2, Y2) by using an intersection point solving tool;
step seven: calculating a midpoint P4 ((X1 + X2)/2, (Y1 + Y2)/2) between P1 and P2 by coordinates of the intersection points P1 and P2;
step eight: a circle finding tool is adopted to obtain a circle where the arc mark is located, and a circle center P3 (X3, Y3) is calculated;
step nine: fitting a line segment through P7 and P4, and transferring the screw rod from P7 to P4 along the P7-P4 line segment;
Step ten: fitting a line segment through P4 and P3, and obtaining a deviation angle R between the P4-P3 line segment and the P7-P4 line segment, wherein the deviation angle R can be shown in FIG. 13; then, P4 is taken as a secondary starting point of the screw track, P3 is taken as an end point of the screw track, the transfer angle of the screw track is controlled to deviate, the deviation angle is R, and then the screw is transferred from P7 to P4 along a P7-P4 line segment.
Based on the embodiments of fig. 1 to 13 described above, respective embodiments of the screw transfer device, the controller, and the computer-readable storage medium of the embodiments of the present invention are set forth below.
Referring to fig. 14, fig. 14 is a schematic structural view of a screw transferring device according to an embodiment of the present invention; the embodiment of the present invention also provides a screw transferring device, which can implement the above-mentioned screw transferring method, and the screw transferring device 400 includes:
an image obtaining unit 410, configured to obtain a target image by photographing the workpiece with the groove by using a photographing device; the two sides of the groove are respectively provided with a first groove wall, a first bending position is formed between each first groove wall and the end face of the workpiece, the groove bottom of the groove is used for installing a screw rod, and the workpiece is also provided with an arc mark coaxially arranged with the edge of a nut used for being connected to the screw rod;
The image recognition unit 420 is configured to recognize the target image, and recognize the arc identifier and the two first bending positions;
the calculating unit 430 is configured to calculate a first reference point position between the two first bending positions and a center position of the circular arc mark, where a distance between the first reference point position and a first slot wall on any side is greater than a radius of the screw;
the path generating unit 440 is configured to generate a target path according to the first reference point position and the center position, and drive the screw by the driving device so that the screw is transferred to the bottom of the groove along the target path.
It should be noted that, the specific embodiment of the screw conveying device is substantially the same as the specific embodiment of the screw conveying method described above, and will not be described herein.
In addition, the embodiment of the invention also provides a controller, which comprises: the screw conveying method comprises a memory, a processor, a program stored in the memory and capable of running on the processor, and a data bus for realizing connection communication between the processor and the memory, wherein the program is executed by the processor to realize the screw conveying method. The controller can be any intelligent terminal including a tablet personal computer, a vehicle-mounted computer and the like.
Referring to fig. 15, fig. 15 illustrates a hardware structure of a controller according to another embodiment, the controller includes:
The processor 510 may be implemented by a general-purpose CPU (central processing unit), a microprocessor, an application-specific integrated circuit (ApplicationSpecificIntegratedCircuit, ASIC), or one or more integrated circuits, etc. for executing related programs to implement the technical solution provided by the embodiments of the present invention;
the memory 520 may be implemented in the form of read-only memory (ReadOnlyMemory, ROM), static storage, dynamic storage, or random access memory (RandomAccessMemory, RAM). Memory 520 may store an operating system and other application programs, and when implementing the technical solutions provided in the embodiments of the present disclosure by software or firmware, relevant program codes are stored in memory 520 and invoked by processor 510 to perform the screw transfer method of the embodiments of the present disclosure;
an input/output interface 530 for implementing information input and output;
the communication interface 540 is configured to implement communication interaction between the present device and other devices, and may implement communication in a wired manner (e.g. USB, network cable, etc.), or may implement communication in a wireless manner (e.g. mobile network, WIFI, bluetooth, etc.); and
Bus 550, which carries information among the various components of the device (e.g., processor 510, memory 520, input/output interface 530, and communication interface 540);
wherein processor 510, memory 520, input/output interface 530, and communication interface 540 enable a communication connection within the device between each other via bus 550.
The embodiment of the invention also provides a storage medium, which is a computer readable storage medium and is used for computer readable storage, the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to realize the screw conveying method.
The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The embodiments described in the embodiments of the present invention are for more clearly describing the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention, and those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present invention are equally applicable to similar technical problems.
It will be appreciated by those skilled in the art that the arrangements shown in fig. 1-12 are not limiting of the embodiments of the present invention and may include more or fewer steps than shown, or certain steps in combination, or different steps.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.
The terms "first," "second," "third," "fourth," and the like in the description of the invention and in the above figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present invention, "at least one (item)" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is merely a logical function division, and there may be another division manner in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including multiple instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing a program.
The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and are not thereby limiting the scope of the claims of the embodiments of the present invention. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and spirit of the embodiments of the present invention shall fall within the scope of the claims of the embodiments of the present invention.

Claims (10)

1. The screw transferring method is characterized by being applied to a controller in a screw transferring system, wherein the screw transferring system further comprises a shooting device and a driving device, and the controller is respectively and electrically connected with the shooting device and the driving device;
the screw transferring method comprises the following steps:
shooting the workpiece provided with the groove through the shooting device to obtain a target image; the two sides of the groove are respectively provided with a first groove wall, a first bending position is formed between each first groove wall and the end face of the workpiece, the groove bottom of the groove is used for installing a screw rod, and the workpiece is also provided with an arc mark coaxially arranged with the edge of a nut connected to the screw rod;
identifying the target image, and identifying the arc mark and the two first bending positions;
calculating a first reference point position between the two first bending positions and a circle center position of the arc mark, wherein the distance between the first reference point position and the first groove wall on any side is larger than the radius of the screw;
generating a target path for reducing collision abrasion between the screw and the groove wall of the groove according to the first reference point position and the circle center position, and driving the screw by the driving device so that the screw is transferred to the groove bottom of the groove along the target path.
2. The screw transfer method according to claim 1, wherein the identifying the target image, identifying two of the first bending positions, includes:
identifying a first straight line corresponding to an end face of the workpiece from the target image;
identifying a second straight line corresponding to the first groove wall from the target image;
and taking the intersection point position of the first straight line and the second straight line as the first bending position.
3. The screw transfer method according to claim 1 or 2, wherein the calculating of the first reference point position between the two first bending positions includes:
positioning the two first bending positions to obtain two first coordinate information;
and calculating the coordinate information of the midpoint position of the two first coordinate information to serve as a first reference point position between the two first bending positions.
4. The screw transfer method according to claim 1, wherein a second groove wall is provided between the first groove wall and the groove bottom on each side, and a second bending position is formed between the first groove wall and the second groove wall; the screw transferring method further comprises the following steps: identifying the target image, identifying two second bending positions, and calculating a second reference point position between the two second bending positions, wherein the distance between the second reference point position and the second groove wall on any side is larger than the radius of the screw;
Correspondingly, the generating the target path according to the first reference point position and the circle center position includes: and generating a target path according to the first reference point position, the second reference point position and the circle center position.
5. The screw transfer method according to claim 4, wherein the identifying the target image to identify two of the second bending positions includes:
identifying a second straight line corresponding to the first groove wall from the target image;
identifying a third straight line corresponding to the second groove wall from the target image;
and taking the intersection point position of the second straight line and the third straight line as the second bending position.
6. The screw transfer method according to claim 4 or 5, wherein the calculating the second reference point position between the two second bending positions includes:
positioning the two second bending positions to obtain two second coordinate information;
and calculating the coordinate information of the midpoint position of the two second coordinate information to serve as a second reference point position between the two second bending positions.
7. The screw transfer method according to claim 4, wherein the target path includes a first target path and a second target path, wherein the first target path is a path from the first reference point position to the second reference point position, and the second target path is a path from the second reference point position to the center position; the driving device drives the screw rod to move the screw rod to the bottom of the groove along the target path, and the driving device comprises:
The driving device drives the screw rod to move along the first target path so as to enable the screw rod to be transferred from the first reference point position to the second reference point position;
calculating a deviation angle between the second target path and the first target path;
and controlling the transferring direction of the screw rod to rotate by the deviation angle through the driving device, and driving the screw rod to move along the second target path so as to transfer the screw rod from the second reference point position to the circle center position.
8. A screw transfer device, comprising:
the image acquisition unit is used for shooting the workpiece provided with the groove through the shooting device to obtain a target image; the two sides of the groove are respectively provided with a first groove wall, a first bending position is formed between each first groove wall and the end face of the workpiece, the groove bottom of the groove is used for installing a screw rod, and the workpiece is also provided with an arc mark coaxially arranged with the edge of a nut connected to the screw rod;
the image recognition unit is used for recognizing the target image and recognizing the arc mark and the two first bending positions;
The calculating unit is used for calculating a first reference point position between the two first bending positions and a circle center position of the arc mark, wherein the distance between the first reference point position and the first groove wall at any side is larger than the radius of the screw;
and the path generating unit is used for generating a target path for reducing collision and abrasion between the screw and the wall of the groove according to the first reference point position and the circle center position, and driving the screw by the driving device so that the screw is transferred to the bottom of the groove along the target path.
9. A controller, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the screw transfer method according to any one of claims 1 to 7 when the computer program is executed.
10. A computer-readable storage medium storing computer-executable instructions for performing the screw transfer method according to any one of claims 1 to 7.
CN202210332093.2A 2022-03-31 2022-03-31 Screw transfer method, apparatus, controller, and computer-readable storage medium Active CN114670004B (en)

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