CN115270348B - Method for obtaining manufacturing process and storage medium - Google Patents
Method for obtaining manufacturing process and storage medium Download PDFInfo
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- CN115270348B CN115270348B CN202210942716.8A CN202210942716A CN115270348B CN 115270348 B CN115270348 B CN 115270348B CN 202210942716 A CN202210942716 A CN 202210942716A CN 115270348 B CN115270348 B CN 115270348B
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Abstract
The application discloses a method for obtaining a manufacturing process and a storage medium, wherein the method for obtaining the manufacturing process comprises the following steps: s100: establishing a three-dimensional coordinate system, and carrying out three-dimensional modeling on the tool and the workpiece; s200: acquiring initial position information and initial posture information of a tool and a workpiece; s300: initializing a start-stop recording device, wherein the start-stop recording device is used for recording the start-stop time of a tool; s400: acquiring real-time track information fed back by a tracker; s500: acquiring the start-stop time of the start-stop recording device; s600: cutting the real-time track information according to the start-stop time to obtain effective track information; s700: and controlling the robot to operate the workpiece through the tool according to the effective track information. The method for obtaining the manufacturing process disclosed by the application can better reserve and digitize the process technology and the skill of the existing technical workers and reduce the dependence on manpower.
Description
Technical Field
The present application relates to the field of intelligent manufacturing, and in particular, to a method for obtaining a manufacturing process and a storage medium.
Background
With the aging progress, the shortage of young labor force becomes a normal state, so that the manufacturing industry of each industry is urgently required to be mechanized and intelligent. With the development of industrial technology, simple manufacturing has been replaced by automated equipment, and the rest is a few industries and processes that are difficult to replace. The industries such as welding, spraying, gluing and the like are difficult to be replaced by machines due to complex processes, such as welding gun posture adjustment in the welding process, welding sequence in multi-layer and multi-channel welding, welding wrap angles at corner positions and the like; as well as saving and uniformity of materials required in the spraying and gluing industries, a good track planning and a proper switching time are required, and at present, machines in these fields cannot be completely operated by skilled workers.
It can be seen that there is a need for improvements and improvements in the art.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present application aims to provide a method and a storage medium for obtaining a manufacturing process, learn the operation method and process of a skilled worker, and convert the process technology of the skilled worker into the process technology of intelligent manufacturing equipment and industrial robots, so as to achieve the technical effects of intelligent learning and improving the working efficiency.
In order to achieve the above purpose, the application adopts the following technical scheme:
the device for acquiring the manufacturing process comprises a positioner, a tracker, a start-stop recording device, a memory, a communication bus and an upper computer; the locator is used for locating and collecting the position information of the tracker, is electrically connected with the upper computer and comprises a laser locating sensor; the tracker is used for tracking pose information of a tool or a workpiece in real time, is arranged on the tool or the workpiece and is electrically connected with the upper computer; the start-stop recording device is used for recording the starting and ending time of a tool, is arranged on the tool and is electrically connected with the upper computer, and comprises a photoelectric switch; the memory is used for storing a computer readable program which can be executed by the upper computer; the upper computer executes the computer program to realize the steps in the method for acquiring the manufacturing process; the communication bus is used for realizing connection communication between the upper computer and the locator and the tracker and connection communication between the memory and the upper computer; the method for obtaining the manufacturing process comprises the following steps:
s100: establishing a three-dimensional coordinate system, and carrying out three-dimensional modeling on the tool and the workpiece;
s200: acquiring initial position information and initial posture information of a tool and a workpiece;
s300: initializing a start-stop recording device, wherein the start-stop recording device is used for recording the start-stop time of a tool;
s400: acquiring real-time track information fed back by a tracker;
s500: acquiring the start-stop time of the start-stop recording device;
s600: cutting the real-time track information according to the start-stop time to obtain effective track information;
s700: and controlling the robot to operate the workpiece through the tool according to the effective track information.
In the method for acquiring the manufacturing process, the initial position information and the initial posture information of the acquisition tool and the workpiece are specifically: and calibrating the tool and the workpiece by a six-point method to acquire initial position information and initial posture information of the tool and the workpiece.
In the method for acquiring the manufacturing process, the real-time track information comprises real-time position information and real-time posture information, and the real-time position information and the real-time posture information are information changing along with time.
In the method for obtaining the manufacturing process, the start-stop time includes a tool start time and a tool stop time.
In the method for obtaining the manufacturing process, clipping the real-time track information according to the start-stop time to obtain effective track information includes:
s601: deleting the real-time track information before the tool starting time;
s602: and deleting the real-time track information after the tool stopping time.
The method for obtaining the manufacturing process further comprises the steps of repeatedly executing the steps S400-S700, and adjusting the effective track information and the starting and stopping time to obtain the optimal track information and the optimal starting and stopping time.
In the method for obtaining the manufacturing process, the optimal track information comprises optimal real-time position information and optimal real-time posture information.
The present application also accordingly provides a computer readable storage medium storing one or more programs executable to implement steps in a method of obtaining a manufacturing process as described in any of the above.
The beneficial effects are that:
the application provides a method for obtaining a manufacturing process and a storage medium, which have the following advantages: firstly, three-dimensional modeling is carried out on a tool and a workpiece of a scene to obtain position information and posture information of the tool and the workpiece, then a start-stop recording device arranged on the tool is initialized, the time of starting and stopping equipment of a worker is recorded, when the worker operates, a positioner acquires real-time position information and posture information of a tracker, continuous position information is converted into track information, the track information and the posture information are intercepted according to the start-stop time recorded by the start-stop recording device, and effective track information and effective posture information are obtained. The method, the storage medium and the device for acquiring the manufacturing process can better reserve and digitize the process technology and the skill of the existing technical workers; the use threshold is reduced, equipment administrators can be free from proficiency in technology, and the dependence on skilled workers is reduced. The method, the storage medium and the device for obtaining the manufacturing process are wide in application range, and the scheme can be used for copying and intelligentizing the process as long as the method, the storage medium and the device are applied to tools; the intelligent manufacturing equipment can be easier to master the technological requirements of customers when entering new industries or popularizing and applying, and development time and labor cost are reduced.
Drawings
FIG. 1 is a control flow diagram of a method of obtaining a manufacturing process provided by the present application;
FIG. 2 is a flow chart of a control for obtaining effective track information by clipping the track information according to the start-stop time provided by the application;
fig. 3 is a system configuration diagram of an apparatus for obtaining a manufacturing process according to the present application.
Detailed Description
The application provides a method for obtaining a manufacturing process, a storage medium and a generating system, and in order to make the purposes, technical schemes and effects of the application clearer and more definite, the application is further described in detail below with reference to the accompanying drawings and examples.
In the description of the present application, it should be understood that the terms "mounted," "connected," and the like should be construed broadly, and that the specific meaning of the terms in the present application may be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, the application provides a method for obtaining a manufacturing process, wherein a device for obtaining the manufacturing process comprises a positioner, a tracker, a start-stop recording device, a memory, a communication bus and an upper computer; the locator is used for locating and collecting the position information of the tracker, is electrically connected with the upper computer and comprises a laser locating sensor; the tracker is used for tracking pose information of a tool or a workpiece in real time, is arranged on the tool or the workpiece and is electrically connected with the upper computer; the start-stop recording device is used for recording the starting and ending time of a tool, is arranged on the tool and is electrically connected with the upper computer, and comprises a photoelectric switch; the memory is used for storing a computer readable program which can be executed by the upper computer; the upper computer executes the computer program to realize the steps in the method for acquiring the manufacturing process; the communication bus is used for realizing connection communication between the upper computer and the locator and the tracker and connection communication between the memory and the upper computer; the method for obtaining the manufacturing process comprises the following steps:
s100: establishing a three-dimensional coordinate system, and carrying out three-dimensional modeling on the tool and the workpiece;
s200: acquiring initial position information and initial posture information of a tool and a workpiece;
s300: initializing a start-stop recording device, wherein the start-stop recording device is used for recording the start-stop time of a tool;
s400: acquiring real-time track information fed back by a tracker;
s500: acquiring the start-stop time of the start-stop recording device;
s600: cutting the real-time track information according to the start-stop time to obtain effective track information;
s700: and controlling the robot to operate the workpiece through the tool according to the effective track information.
In a specific embodiment, S100, establishing a three-dimensional coordinate system includes: carrying out three-dimensional modeling layout and workpiece modeling on the tool and the workpiece, erecting a positioner on a production site, and ensuring that the tool and the workpiece can be tracked in real time without losing pose information of the tool and the workpiece due to shielding; the work piece is modeled in three dimensions, and the work scene can be modeled if necessary and imported into the upper computer software.
S200, acquiring initial position information and initial posture information of a tool and a workpiece comprises the following steps: installing the tracker and calibrating positions of a tool and a workpiece, wherein the tool is provided with the tracker, the tool comprises a welding gun, a spray gun and the like, the welding gun is taken as an example, the tracker is installed at a position on the welding gun, which is easy to track by the positioner, the installation position cannot prevent workers from working, then the welding gun is calibrated, and the upper computer software can acquire the pose of a welding wire at the tail end of the welding gun relative to the tracker. In another embodiment, there is a situation that both the tool and the workpiece are moved in position during the operation, the tracker is also mounted on the workpiece, and then the workpiece is calibrated.
S300, initializing a start-stop recording device, wherein the start-stop recording device is used for recording the start-stop time of the tool. Taking welding as an example, a start-stop recording device is installed, a photoelectric switch is one of the start-stop recording devices, the photoelectric switch is installed to record the time of arc starting and arc extinguishing of operators in the welding process as start-stop time, and the start-stop time is sent to upper computer software. For example, spray gun switch is installed in the spray process, photoelectric switch is installed to record start-stop time and send start-stop time to upper computer software.
S400, acquiring real-time track information of a tracker, and after a worker or a robot starts working, feeding back the real-time position and the real-time gesture of the tool to upper computer software in real time by the tracker installed on the tool, so that the real-time track information is formed, and if the tracker is also installed on the workpiece, the real-time track information of the workpiece can be tracked and recorded when the workpiece is moved.
S500, acquiring the start-stop time of the start-stop recording device. Taking welding as an example, in the process of real welding by workers or robots, firstly determining the starting point and the finishing point of each welding seam, recording real-time position information and real-time posture information of a welding gun relative to a workpiece in real time by upper computer software through the positioner and the tracker to form a welding motion track, recording the starting and stopping time of the welding gun tool by the photoelectric switch, and transmitting the motion track and the starting and stopping time to the upper computer software to form track information, real-time posture information and starting and stopping time.
S600, cutting the real-time track information according to the start-stop time to obtain effective track information. Processing the real-time track information on upper computer software, judging the validity of the track information by utilizing the start-stop time of a welding tool, defining a certain time or a certain distance before and after welding, removing redundant tracks, and leaving the valid track information of the welding tool and a welded workpiece in the welding process.
And S700, controlling the robot to operate the workpiece through the tool according to the effective track information. After the robot finishes welding, the welding effect of the manual work and the robot is compared.
In a specific embodiment, the locator and the tracker use virtual reality devices such as a locator and a tracker device of HTCVIVE, and a laser location sensor and a tracker device may also be used.
The method for acquiring the manufacturing process comprises the steps of firstly carrying out three-dimensional modeling on a tool and a workpiece in a scene to obtain initial position information and initial posture information of the tool and the workpiece, initializing a start-stop recording device arranged on the tool, recording the time of start-stop equipment of a worker, acquiring real-time position information and real-time posture information of a tracker by a positioner when the worker operates, converting continuous position information into real-time track information, and intercepting the real-time track information according to the start-stop time recorded by the start-stop recording device to obtain effective track information.
Further, the initial position information and the initial posture information of the tool and the workpiece are obtained, specifically, the tool and the workpiece are calibrated through a six-point method, so that the initial position information and the initial posture information of the tool and the workpiece are obtained. The six-point method is a calibration method. The method comprises the following specific steps: 1. determining a fixed point in the reach of the robot; 2. determining a reference point on the tool; 3. the robot is manually controlled to move the reference point, the reference point happens to be in contact with the fixed reference point in four different postures, the first three points are any postures, the fourth point is that the reference point of the tool is perpendicular to the fixed point, the fifth point is that the reference point of the tool moves from the fixed point to the X direction of the reference point to be set, and the sixth point is that the reference point of the tool moves in the Z direction from the fixed point to the reference point to be set; 4. the position of the reference point can be calculated by the position data of the front four points, and the gesture of the reference point can be determined by the rear two points.
Further, the real-time track information includes real-time position information and real-time posture information, and the real-time position information and the real-time posture information are information which changes with time. The real-time position information comprises real-time position coordinate information of a workpiece and a tool in the operation process of a worker or a robot, and the welding is taken as an example, and the posture information is relative posture information of a welding gun relative to the workpiece in the welding process of the worker. During welding, the welding gun is moving, so that the position information and the attitude information are time-varying.
Further, the start-stop time includes a tool start time and a tool stop time. The start-stop time provides a basis for subsequent processing of the position information and the attitude information. The time interval for intercepting the effective action by the simulation manual operation of the manipulator is convenient to follow.
Further, referring to fig. 2, clipping the track information according to the start-stop time to obtain effective track information includes:
s601: deleting the track information and the real-time gesture information before the tool starting time;
s602: and deleting the track information and the real-time gesture information after the tool stopping time.
And judging the validity of the real-time track information by utilizing the starting and stopping time of the welding tool, defining a certain time or a certain distance before and after welding, removing redundant tracks, and leaving the relative pose information of the welding tool and the workpiece to be welded in the welding process.
Further, steps S400-S700 are repeatedly executed, and the effective track information and the start-stop time are adjusted to obtain the optimal track information and the optimal start-stop time. And repeating the steps S400-S700 for a plurality of times, wherein the upper computer acquires a plurality of groups of effective data of manual welding and performs analysis iteration until the robot can completely replace manual operation. In one embodiment, steps S400-S700 are repeated several times, and after each operation is completed, the workpiece photo after manual welding is compared with the workpiece photo welded by the robot operating tool controlled by the track information and the start time, if the difference is less than 1%, the track information at this time is the optimal track information, and the start time at this time is the optimal start time. And (3) completely reproducing the special process skills, and generating a welding motion instruction for the operation of the industrial robot by combining the processed welding tracks. And (3) using the same workpiece, using a robot to perform actual welding, and comparing whether the welding quality is the same as that of a technical worker.
Further, the optimal trajectory information includes optimal real-time position information and optimal real-time pose information. And according to the optimal real-time position information and the optimal real-time posture information, the optimal welding speed for the workpiece is reached, wherein the optimal welding speed comprises but is not limited to the welding speed at the time of stopping in the processes of starting welding, extinguishing welding and welding.
The upper computer software can also gradually form welding and spraying technique skills of different parts through decomposition, recombination welding and spraying processes, and the welding is such as fillet welding, multilayer multi-pass welding, welding with narrow space, hybrid welding with curves and the like.
In another embodiment, the toilet is glazed, and the workpiece is reversed during the glaze spraying operation of the toilet, so that one more tracker is needed to be arranged at the top of the toilet, and the pose of the toilet can be recorded in real time during the operation; in addition, the spray gun for spraying the glaze is controlled to be switched by a craftsman, so that a photoelectric switch is needed to be additionally arranged, the switching time of the spray gun is recorded, and the spray gun is used as a starting point and an ending point of a spraying track when the track is processed; in addition, the moment of reversing the rotary closestool is determined by a skilled worker, so that a photoelectric switch is needed to record the moment of reversing, and if the glaze spraying operation is performed in the rotation process, an encoder is needed to be used as a recorder to record the real-time position change of the rotation.
The present application also correspondingly provides a computer readable storage medium storing one or more programs executable by a monitoring system to implement steps in a method of obtaining a manufacturing process as described in any of the above.
Logic instructions in the memory may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product; the memory, as a computer readable storage medium, may be configured to store a software program, a computer executable program, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure.
The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the terminal device, etc. Further, the memory may include a high-speed random access memory, and may also include a nonvolatile memory. For example, a plurality of media capable of storing program codes such as a usb 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 a transitory storage medium may be used.
It will be understood that equivalents and modifications will occur to those skilled in the art based on the present application and its spirit, and all such modifications and substitutions are intended to be included within the scope of the present application.
Claims (7)
1. The method for acquiring the manufacturing process is characterized in that the device for acquiring the manufacturing process comprises a positioner, a tracker, a start-stop recording device, a memory, a communication bus and an upper computer; the locator is used for locating and collecting the position information of the tracker, is electrically connected with the upper computer and comprises a laser locating sensor; the tracker is used for tracking pose information of a tool or a workpiece in real time, is arranged on the tool or the workpiece and is electrically connected with the upper computer; the start-stop recording device is used for recording the starting and ending time of a tool, is arranged on the tool and is electrically connected with the upper computer, and comprises a photoelectric switch; the memory is used for storing a computer readable program which can be executed by the upper computer; the upper computer executes the computer program to realize the steps in the method for acquiring the manufacturing process; the communication bus is used for realizing connection communication between the upper computer and the locator and the tracker and connection communication between the memory and the upper computer; the method for obtaining the manufacturing process comprises the following steps:
s100: establishing a three-dimensional coordinate system, and carrying out three-dimensional modeling on the tool and the workpiece;
s200: acquiring initial position information and initial posture information of a tool and a workpiece;
s300: initializing a start-stop recording device, wherein the start-stop recording device is used for recording the start-stop time of a tool;
s400: acquiring real-time track information fed back by a tracker;
s500: acquiring the start-stop time of the start-stop recording device;
s600: cutting the real-time track information according to the start-stop time to obtain effective track information;
s700: according to the effective track information, controlling the robot to operate the workpiece through a tool;
and repeating the steps S400-S700, comparing the workpiece photo after manual welding with the workpiece photo welded by the effective track information and the start time control robot operating tool after each operation, and if the difference between the effective track information and the workpiece photo is less than 1%, taking the corresponding effective track information as the optimal track information and the corresponding start time as the optimal start time.
2. The method of claim 1, wherein the initial position information and initial attitude information of the tool and workpiece are specifically:
and calibrating the tool and the workpiece by a six-point method to acquire initial position information and initial posture information of the tool and the workpiece.
3. The method of claim 1, wherein the real-time trajectory information comprises real-time position information and real-time attitude information, the real-time position information and the real-time attitude information each being time-varying information.
4. A method of deriving a manufacturing process according to claim 1, wherein the start-stop time comprises a tool start-time and a tool stop-time.
5. The method of claim 4, wherein clipping the real-time trajectory information based on the start-stop time to obtain effective trajectory information comprises:
s601: deleting the real-time track information before the tool starting time;
s602: and deleting the real-time track information after the tool stopping time.
6. The method of claim 1, wherein the optimal trajectory information comprises optimal real-time position information and optimal real-time pose information.
7. A computer readable storage medium storing one or more programs executable to implement steps in the method of obtaining a manufacturing process as claimed in any one of claims 1-6.
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