CN116423511A - Accurate verification industrial pickup method and system based on 4-point identification and intelligent terminal - Google Patents

Accurate verification industrial pickup method and system based on 4-point identification and intelligent terminal Download PDF

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Publication number
CN116423511A
CN116423511A CN202310418299.1A CN202310418299A CN116423511A CN 116423511 A CN116423511 A CN 116423511A CN 202310418299 A CN202310418299 A CN 202310418299A CN 116423511 A CN116423511 A CN 116423511A
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point
coordinates
compensation value
target
test
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章林
邓进锋
何倩倩
宋鹏程
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Shenzhen Lavichip Technology Co ltd
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Shenzhen Lavichip Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • Y02P90/30—Computing systems specially adapted for manufacturing

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  • Mechanical Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The application relates to an accurate verification industrial pickup method, an accurate verification industrial pickup system and an intelligent terminal based on 4-point identification, which belong to the field of machine tools, and the method comprises the steps of identifying and obtaining identification coordinates of a preset target point on a material disc through an identification system according to a preset test point on the material disc; obtaining test coordinates of each test point location, and obtaining calculation parameters according to the test coordinates; the calculation parameters comprise point location distance and total points; calculating to obtain the calculated coordinates of the target point according to the calculated parameters and the test coordinates; acquiring a compensation value of the target point according to the identification coordinate and the calculation coordinate; acquiring initial coordinates of other points to be detected on the material disc; and adjusting the initial coordinates of each point to be tested on the material disc according to the compensation value. The application has the effect that the manipulator can accurately pick and place the product when picking and placing the product.

Description

Accurate verification industrial pickup method and system based on 4-point identification and intelligent terminal
Technical Field
The application relates to the field of machine tools, in particular to an accurate verification industrial pickup method and system based on 4-point identification and an intelligent terminal.
Background
At present, when a mechanical arm performs material taking and stacking or material discharging and stacking on products, an identification system can identify taking and placing points in a plane rectangular space or a three-dimensional space formed by a material disc at first, so that the mechanical arm can accurately take and place the products.
When identifying the picking and placing points in the planar rectangular space, the identification system firstly identifies the coordinates of three preset A, B, C points, obtains parameters of a planar coordinate axis X, Y, such as a starting point coordinate, the distance between adjacent picking and placing points, the total number of the picking and placing points and the like, through A, B, C points, and calculates the coordinate of each picking and placing point on the material tray so as to realize picking and placing of products in a planar rectangular section; when the picking and placing points in the three-dimensional interval are identified, the parameters of the space coordinate axis X, Y, Z are obtained through three points A, B, C, and the coordinates of each picking and placing point are calculated, so that the picking and placing of the products in the three-dimensional interval is realized, similar to the identification of the picking and placing points in the planar rectangular space.
At present, the existing parameters only can meet the requirement that a mechanical arm can take a product in a regular material tray, but as the using time of the material tray becomes longer, some plastic material trays can deform, so that the spacing between rows, columns and rows is irregular, and the original regular material tray deformation is caused to be an irregular material tray, so that the applicant considers that if the mechanical arm is controlled to take and put the product through the prior art, the product taking and putting position is inaccurate, and the product taking and putting are unsuccessful.
Disclosure of Invention
In order to enable the manipulator to accurately pick and place products when picking and placing the products, the product picking and placing success rate is effectively improved, and the application provides an accurate verification industrial pick-up method and system based on 4-point identification and an intelligent terminal.
In a first aspect, the present application provides a method for precisely verifying industrial pick-up based on 4-point recognition, which adopts the following technical scheme:
an accurate verification industrial pick-up method based on 4-point identification, comprising:
according to the preset test points on the material disc, identifying and obtaining identification coordinates of a preset target point on the material disc through an identification system; obtaining test coordinates of each test point location, and obtaining calculation parameters according to the test coordinates; the calculation parameters comprise point location distance and total points;
calculating to obtain the calculated coordinates of the target point according to the calculated parameters and the test coordinates;
acquiring a compensation value of the target point according to the identification coordinate and the calculation coordinate;
acquiring initial coordinates of other points to be detected on the material disc;
and adjusting the initial coordinates of each point to be tested on the material disc according to the compensation value.
Through adopting above-mentioned technical scheme, on original identification system, increase the discernment to the target point to according to the discernment coordinate of target point and calculate the compensation value of coordinate acquisition target point, adjust the initial coordinate of every awaiting measuring point position on the material dish according to the compensation value at last, coordinate after the adjustment can make the manipulator get and put in the product accuracy when getting and put, effectively improve the product and get and put the success rate.
Optionally, the obtaining the calculation parameter according to the test coordinate includes:
judging whether the test interval is a plane rectangular interval or a three-dimensional interval;
if the test interval is the plane rectangular interval, determining a starting point coordinate and a plane direction coordinate of a plane coordinate axis through the test coordinate; the number of the plane direction coordinates is two;
acquiring plane interval information of the plane rectangular interval; the plane interval information comprises a first direction total point number and a second direction total point number;
acquiring the total points of the plane rectangular section according to the plane section information;
and acquiring the point location distance between adjacent point locations to be tested according to the starting point coordinates, the two plane direction coordinates and the plane interval information.
By adopting the technical scheme, the calculation parameters are obtained through the test coordinates, namely, the calculation parameters are obtained according to the starting point coordinates, the two plane direction coordinates and the plane interval information, so that the accuracy of the calculation parameters can be effectively determined.
Optionally, the method further comprises:
if the test interval is the three-dimensional interval, determining an origin coordinate and a space direction coordinate of a space coordinate axis through the test coordinate; the space coordinates are two;
acquiring three-dimensional interval information of the three-dimensional interval; the three-dimensional interval information comprises a first direction total number, a second direction total number and a height;
acquiring the total points of the three-dimensional interval according to the three-dimensional interval information;
and acquiring the point location distance between adjacent point locations to be tested according to the origin coordinates, the three space direction coordinates and the three-dimensional interval information.
By adopting the technical scheme, the process of obtaining the estimated parameters is different in different test intervals, and the estimated parameters are obtained according to the test intervals, so that the accuracy of the estimated parameters is effectively improved.
Optionally, the calculating to obtain the calculated coordinates of the target point according to the calculated parameters and the test coordinates includes:
acquiring a target plane rectangular section in which the target point is located;
in the target plane rectangular section, acquiring the target number of the target points in the first direction and the target number of the target points in the second direction; acquiring a target starting point coordinate of the target plane rectangular section;
and calculating to obtain the calculation coordinates of the target point according to the target starting point coordinates, the target number in the first direction and the target number in the second direction.
By adopting the technical scheme, the calculated coordinates are obtained through the target starting point coordinates, the number of targets in the first direction and the number of targets in the second direction, so that the accuracy of the calculated coordinates can be effectively determined.
Optionally, the adjusting the initial coordinates of each point to be measured on the material tray according to the compensation value includes:
acquiring a to-be-detected plane rectangular interval in which the to-be-detected point is located, and acquiring a current row and a current column of the to-be-detected point in the to-be-detected plane rectangular interval;
judging whether the material tray is horizontal to a coordinate system where the manipulator is positioned;
substituting the compensation value, the first-direction total point number of the material disc, the second-direction total point number of the material disc, the current row of the point to be measured and the current column of the point to be measured into a preset compensation value calculation formula if the coordinate system where the material disc and the manipulator are positioned is horizontal, so as to obtain a parallel adjustment compensation value of the point to be measured, and adjust the initial coordinate of each point to be measured on the material disc; the compensation values include a first direction compensation value and a second direction compensation value; the parallel adjustment compensation value includes a first direction parallel adjustment compensation value and a second direction parallel adjustment compensation value.
Through adopting above-mentioned technical scheme, confirm at first that the material dish is parallel with the coordinate system that the manipulator is located to when the coordinate system that the material dish is parallel with the manipulator is located, substituting the offset calculation formula with known quantity and obtaining parallel adjustment offset, thereby the initial coordinate of adjustment awaiting measuring point position makes the manipulator get when putting the product and puts accurate getting, effectively improves the product and gets and put the success rate.
Optionally, the method further comprises:
if the coordinate system where the material disc and the manipulator are located is inclined, substituting the compensation value, the total first direction number, the total second direction number, the total third direction number and the current row and the current column of the point to be tested into a preset compensation value calculation formula to obtain an inclination adjustment compensation value of the point to be tested so as to adjust the initial coordinate of each point to be tested on the material disc; the compensation values include the first direction compensation value, the second direction compensation value, and a third direction compensation value; the tilt adjustment compensation values include a first direction tilt adjustment compensation value, a second direction tilt adjustment compensation value, and a third direction tilt adjustment compensation value.
By adopting the technical scheme, when the coordinate system where the material disc and the manipulator are located is inclined, the known quantity is substituted into the compensation value calculation formula, so that the inclination adjustment compensation value is obtained to adjust the initial coordinates of the point to be measured, the manipulator can accurately pick and place the product when picking and placing the product, and the product picking and placing success rate is effectively improved.
Optionally, the compensation value calculation formula is:
Figure BDA0004185774560000041
the delta X is a first direction parallel adjustment or inclination adjustment compensation value of the point to be measured, the delta Y is a second direction parallel adjustment or inclination adjustment compensation value of the point to be measured, and the delta Z is a third direction inclination adjustment compensation value of the point to be measured; the D is x Compensating the value for the first direction of the target point, the D y Compensating the value for the second direction of the target point, the D z Compensating a value for a third direction of the target point; the N is x For the total number of points or total number of points in the first direction, N is l The total point number or total number in the second direction is C x For the current line of the point to be tested, the C y And the current column of the point to be tested is the current column of the point to be tested.
By adopting the technical scheme, the compensation value calculation formula is used for adjusting the initial coordinates of the point to be measured, so that the success rate of taking and placing the product is effectively improved.
In a second aspect, the present application provides a 4-point identification-based accurate verification industrial pickup system, which adopts the following technical scheme:
an accurate verification industrial pickup system based on 4-point identification comprises an identification module, an acquisition module and a calculation module;
the identification module is used for identifying and obtaining identification coordinates of a preset target point on the material disc through the identification system according to a preset test point position on the material disc;
the acquisition module is used for acquiring the test coordinates of each test point location and obtaining calculation parameters according to the test coordinates; the calculation parameters comprise point location distance and total points;
the calculation module is used for calculating to obtain the calculation coordinates of the target point according to the calculation parameters and the test coordinates;
the acquisition module is used for acquiring the compensation value of the target point according to the identification coordinates and the calculation coordinates;
the identification module is used for acquiring initial coordinates of other points to be detected on the material disc;
the calculation module is used for adjusting the initial coordinates of each point to be measured on the material tray according to the compensation value.
Through adopting above-mentioned technical scheme, on original identification system, increase the discernment to the target point to according to the discernment coordinate of target point and calculate the compensation value of coordinate acquisition target point, adjust the initial coordinate of every awaiting measuring point position on the material dish according to the compensation value at last, coordinate after the adjustment can make the manipulator get and put in the product accuracy when getting and put, effectively improve the product and get and put the success rate.
In a third aspect, the present application provides an intelligent terminal that adopts the following technical scheme:
an intelligent terminal comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor adopts the accurate verification industrial pickup method based on 4-point identification when loading and executing the computer program.
By adopting the technical scheme, the computer program is generated by the accurate verification industrial pickup method based on 4-point identification and is stored in the memory to be loaded and executed by the processor, so that the intelligent terminal is manufactured according to the memory and the processor, and the intelligent terminal is convenient to use.
In summary, the present application has at least one of the following beneficial technical effects:
1. on the original recognition system, the recognition of the target point is increased, the compensation value of the target point is obtained according to the recognition coordinate and the calculation coordinate of the target point, and finally, the initial coordinate of each point to be detected on the material disc is adjusted according to the compensation value, so that the manipulator can accurately pick and place the product when the product is picked and placed through the adjusted coordinate, and the product pick and place success rate is effectively improved.
2. Different test intervals and different calculation parameter obtaining processes are adopted, and calculation parameters are obtained according to the test intervals, so that the accuracy of the calculation parameters is effectively improved.
3. The compensation value calculation formula is used for adjusting the initial coordinates of the point to be measured, so that the product pick-and-place success rate is effectively improved.
Drawings
FIG. 1 is a flow chart of one implementation of a method for precisely verifying industrial pick-up based on 4-point identification according to an embodiment of the present application.
FIG. 2 is a flow chart of one implementation of a method for precisely verifying industrial pick-up based on 4-point identification according to an embodiment of the present application.
FIG. 3 is a flow chart of one implementation of a method for precisely verifying industrial pick-up based on 4-point identification according to an embodiment of the present application.
FIG. 4 is a flow chart of one implementation of a method for precisely verifying industrial pick-up based on 4-point identification according to an embodiment of the present application.
FIG. 5 is a flow chart of one implementation of a method for precisely verifying industrial pick-up based on 4-point identification according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below in conjunction with figures 1 to 5.
The embodiment of the application discloses an accurate verification industrial pickup method based on 4-point identification.
Referring to fig. 1, a precision verification industrial pickup method based on 4-point recognition includes the steps of:
s101, identifying and obtaining identification coordinates of a preset target point on the material disc through an identification system according to a preset test point on the material disc.
In this embodiment, there are three test points, and the three test points are referred to as a point, B point, and C point. In the three test points, a start point and two direction end points are included. If the point A is used as a starting point, the point B is used as a B-X direction end point, and the point C is used as a C-Y direction end point, namely, the point A, the point B and the point C form a plane rectangular coordinate system, a straight line formed by connecting the point A and the point B forms an X coordinate axis, and a straight line formed by connecting the point A and the point C forms a Y coordinate axis.
The identification system is preset, and the acquisition process of the identification coordinates is as follows: firstly, position coordinates on a servo motor encoder corresponding to a test point are obtained, and the position coordinates are transmitted to a recognition system in a bus communication mode, so that the recognition system can be used for recognizing and obtaining recognition coordinates of a preset target point on a material disc. In this embodiment, the identification system is configured to identify positions of a plurality of samples on the material tray, and output and display, in the host interface, a number of rows and a number of columns where the material existing in the material tray is located and a position coordinate.
The target point is in this embodiment the point furthest from the starting point, i.e. the point diagonally to the starting point on the rectangular tray.
S102, obtaining test coordinates of each test point location, and obtaining calculation parameters according to the test coordinates; the calculation parameters comprise point location distance and total points.
In this embodiment, the total line number and total column number of all the points on the material tray are first obtained, and the point spacing and total point number on the material tray are obtained according to the three test coordinates, the total line number and the total column number. In a specific implementation, the point-to-point distance between two adjacent points in each row on the material tray is the same, and the point-to-point distance between two adjacent points in each column is the same. The total points refer to the number of all points on the tray.
S103, calculating the calculated coordinates of the target point according to the calculated parameters and the test coordinates.
In this embodiment, the calculated coordinates are calculated by a preset program, that is, the calculated parameters, that is, the point spacing and the total point number, are known, and the start point coordinates and the two direction end point coordinates are known, and in the X-axis direction, the X-axis coordinates of the target point are the number of columns where the target point is located multiplied by the point spacing between two adjacent points in each row; similarly, in the Y-axis direction, the Y-axis coordinate of the target point is the number of rows where the target point is located multiplied by the dot spacing between two adjacent dots in each column. In a specific implementation, after the calculation of the preset program, the estimated coordinates can be manually obtained and used for the subsequent step of comparing the identified coordinates with the estimated coordinates.
S104, acquiring a compensation value of the target point according to the identification coordinates and the calculation coordinates.
Since the identification coordinates and the estimated coordinates are the coordinates of the target point acquired in different ways, if the identification coordinates are different from the estimated coordinates, the identification system generates a compensation value of the identification coordinates of the target point relative to the estimated coordinates.
S105, acquiring initial coordinates of other points to be tested on the material tray.
In specific implementation, a plurality of points are arranged on the material disc, and other points except the test point and the target point are called as points to be tested.
S106, adjusting the initial coordinates of each point to be tested on the material disc according to the compensation value.
After the compensation value is obtained, namely, the compensation value of each point to be measured is calculated according to the row and the column where the point to be measured is located, and the initial coordinates of the point to be measured are adjusted after the compensation value is obtained, so that the probability of unsuccessful picking of the manipulator on the material tray is greatly reduced. For example, if the compensation value of the X coordinate of the point to be measured F (X, Y) is 0.3 and the compensation value of the Y coordinate is 0.3, the adjusted coordinates of the point to be measured are (x+0.3, y+0.3).
The implementation principle of the embodiment is as follows: on the original recognition system, the recognition of the target point is increased, the compensation value of the target point is obtained according to the recognition coordinate and the calculation coordinate of the target point, and finally, the initial coordinate of each point to be detected on the material disc is adjusted according to the compensation value, so that the manipulator can accurately pick and place the product when the product is picked and placed through the adjusted coordinate, and the product pick and place success rate is effectively improved.
In step S102 of the embodiment shown in fig. 1, the test coordinates may be divided into a start point coordinate and a plane direction coordinate, and the calculation parameters may be further calculated. The embodiment shown in fig. 2 is specifically described in detail.
Referring to fig. 2, the calculation parameters are obtained according to the test coordinates, and the method comprises the following steps:
s201, judging whether the test section is a plane rectangular section or a three-dimensional section.
The plane rectangular interval refers to a two-dimensional space, namely a plane rectangular coordinate system, and the coordinates of each point on the material disc are in an (X, Y) form; the three-dimensional interval refers to a three-dimensional space, namely, the coordinates of each point on the material disc of a space rectangular coordinate system are in the form of (X, Y and Z). In specific implementation, the three-dimensional interval considers the height of the point location, and the planar rectangular interval and the three-dimensional interval are manually selected.
S202, if the test interval is a plane rectangular interval, determining a starting point coordinate and a plane direction coordinate of a plane coordinate axis through the test coordinate; the plane direction coordinates are two.
If the test interval is a plane rectangular space, it can be known from step S101 that the test coordinates include a start point and two direction end points, so that the start point coordinates and the two plane direction coordinates in the test coordinates can be determined when the test coordinates are known.
S203, acquiring plane section information of a plane rectangular section; the plane interval information includes a first direction total point number and a second direction total point number.
The first direction total points refer to total points on the X-axis, and the second direction total points refer to total points on the Y-axis. The total number of points on the X axis refers to the total number of columns on the tray, and the total number of points on the Y axis refers to the total number of rows on the tray.
S204, obtaining the total points of the plane rectangular section according to the plane section information.
Total points = first direction total points = second direction total points.
S205, acquiring the point spacing between adjacent points to be tested according to the starting point coordinates, the two plane direction coordinates and the plane interval information.
Because the point pitch includes the point pitch in the X-axis direction and the point pitch in the Y-axis direction, if the total points on the X-axis are the firstThe total points in one direction are a, the total points in the Y-axis, namely the total points in the second direction are b, the coordinates of the starting point are (X, Y), and the coordinates of the plane direction on the X-axis are (X) 1 ，Y 1 ) The plane direction coordinate on the Y-axis is (X 2 ，Y 2 ) The dot pitch in the X-axis direction is (X) 1 -x)/(a-1); the dot pitch in the X-axis direction is (Y) 2 -y)/(b-1)。
According to the accurate verification industrial pickup method based on 4-point identification, the calculation parameters are obtained through the test coordinates, namely the calculation parameters are obtained according to the initial point coordinates, the two plane direction coordinates and the plane interval information, and accuracy of the calculation parameters is effectively determined.
In the embodiment shown in fig. 2, if the test section is a three-dimensional section, the test coordinates may be divided into origin coordinates and spatial direction coordinates, and the estimated parameters may be further calculated. The embodiment shown in fig. 3 is specifically described in detail.
Referring to fig. 3, the precision verification industrial pickup method based on 4-point recognition further includes the steps of:
s301, if the test section is a three-dimensional section, determining an origin coordinate and a space direction coordinate of a space coordinate axis through the test coordinate; the spatial coordinates are two.
If the test interval is a three-dimensional interval, it can be known from step S101 that the test coordinates include a start point and two direction end points, so that the origin coordinates and two spatial direction coordinates in the test coordinates can be determined when the test coordinates are known.
S302, acquiring three-dimensional interval information of a three-dimensional interval; the three-dimensional interval information comprises a first direction total number, a second direction total number and a height.
The same as in step S203, the total number in the first direction refers to the total number of points on the X-axis, the total number in the second direction refers to the total number of points on the Y-axis, and the height refers to the distance between the point to be tested and the horizontal plane formed by the three test points. The total number on the X axis refers to the total number of columns on the material tray, and the total number on the Y axis refers to the total number of rows on the material tray.
S303, obtaining the total points of the three-dimensional interval according to the three-dimensional interval information.
Total number = first direction total number x second direction total number.
S304, according to the original point coordinates, the three space direction coordinates and the three-dimensional interval information, the point location distance between the adjacent point locations to be detected is obtained.
In the same way as in step S205, since the dot pitch includes the dot pitch in the X-axis direction and the dot pitch in the Y-axis direction, if the total number of dots in the X-axis, i.e., the total number of first directions, is a, the total number of dots in the Y-axis, i.e., the total number of second directions, is b, and the origin coordinates are (X, Y, 0), the spatial direction coordinates in the X-axis are (X 1 ，Y 1 0), the space direction coordinates on the Y-axis are (X 2 ，Y 2 0), the dot pitch in the X-axis direction is (X) 1 -x)/(a-1); the dot pitch in the X-axis direction is (Y) 2 -y)/(b-1). I.e. the dot pitch is independent of the height. In specific implementation, whether the material tray is deformed or not can be determined according to the height of the target point.
According to the accurate verification industrial pickup method based on 4-point identification, different test intervals are adopted, the process of obtaining the estimated parameters is different, the estimated parameters are obtained according to the test intervals, and the accuracy of the estimated parameters is effectively improved.
In step S103 of the embodiment shown in fig. 1, the estimated coordinates may be calculated by the planar rectangular space in which the target point is located. The embodiment shown in fig. 4 is specifically described in detail.
Referring to fig. 4, calculating the calculated coordinates of the target point according to the calculated parameters and the test coordinates includes the following steps: s401, acquiring a target plane rectangular section where the target point is located.
And obtaining the target point and the target plane rectangular space where the target point is located according to the identification system.
S402, acquiring the target number of the target points in the first direction and the target number of the target points in the second direction in the target plane rectangular section.
In this embodiment, the number of targets in the first direction and the number of targets in the second direction corresponding to the target point are both obtained by manually inputting the number of targets into the demonstrator. The number of targets in the first direction refers to the number of columns in which the target points are located, and the number of targets in the second direction refers to the number of rows in which the target points are located.
S403, acquiring target starting point coordinates of the target plane rectangular section.
S404, calculating the calculated coordinates of the target point according to the coordinates of the target starting point, the number of targets in the first direction and the number of targets in the second direction.
And calculating the estimated coordinates of the target point according to the coordinates of the target starting point, the number of targets in the first direction and the number of targets in the second direction. For example, let the coordinates of the target start point be (x, y), the number of targets in the first direction, i.e. the number of columns where the target points are located, be c, the number of targets in the second direction, i.e. the number of columns where the target points are located, be d, the dot pitch in the first direction be m, and the dot pitch in the second direction be n, and then the coordinates of the target points be (x+ (c-1) ×m, y+ (d-1) ×n).
It should be noted that, after the current execution main body calculates the calculated coordinates of the target point according to the calculation formula of the target point, the calculated coordinates are compared with the subsequent identification coordinates, so as to obtain the compensation value of the target point, so that the coordinates of other points to be detected on the material tray are compensated by the compensation value, the accuracy of the initial coordinates of the other points to be detected is effectively improved, and the accurate taking of the material on the material tray by the mechanical arm is realized.
According to the accurate verification industrial pickup method based on 4-point identification, the calculated coordinates are obtained through the target starting point coordinates, the number of targets in the first direction and the number of targets in the second direction, and accuracy of the calculated coordinates is effectively determined.
In step S106 of the embodiment shown in fig. 1, after the compensation value of the target point is obtained, the compensation value of the target point may be assigned to the coordinates of other points to be measured. The embodiment shown in fig. 5 is specifically described in detail.
Referring to fig. 5, the initial coordinates of each point to be measured on the material tray are adjusted according to the compensation value, including the following steps:
s501, acquiring a to-be-measured plane rectangular section in which the to-be-measured point positions are located, and acquiring a current row and a current column in which the to-be-measured point positions are located in the to-be-measured plane rectangular section.
In this embodiment, a to-be-detected planar rectangular section in which the to-be-detected point location is located and a current row and a current column of the to-be-detected planar rectangular section are obtained according to the identification system.
S502, judging whether the material tray is horizontal to a coordinate system where the manipulator is located.
In this embodiment, whether the coordinate system where the material tray and the manipulator are located is horizontal or not is judged by the coordinates transmitted by the servo motor, that is, whether the coordinate system where the material tray and the manipulator are located are parallel or inclined is judged by the coordinates in the third direction.
S503, substituting a compensation value, a first-direction total point number, a second-direction total point number and a current row and a current column of the point to be measured into a preset compensation value calculation formula if the coordinate system of the material disc and the manipulator is horizontal, so as to obtain a parallel adjustment compensation value of the point to be measured, and adjust the initial coordinate of each point to be measured on the material disc; the compensation values include a first direction compensation value and a second direction compensation value; the parallel adjustment compensation value includes a first direction parallel adjustment compensation value and a second direction parallel adjustment compensation value.
If the coordinate system where the material disc and the manipulator are located is inclined, substituting a compensation value, a first direction total number, a second direction total number, a third direction total number and a current row and a current column of the point to be measured into a preset compensation value calculation formula to obtain an inclination adjustment compensation value of the point to be measured so as to adjust the initial coordinate of each point to be measured on the material disc; the compensation values include a first direction compensation value, a second direction compensation value, and a third direction compensation value; the tilt adjustment compensation values include a first direction tilt adjustment compensation value, a second direction tilt adjustment compensation value, and a third direction tilt adjustment compensation value.
The compensation value calculation formula is:
Figure BDA0004185774560000101
wherein DeltaX is a compensation value for parallel adjustment or inclination adjustment of the first direction of the point to be measured, deltaY is the point to be measuredThe second direction parallel adjustment or inclination adjustment compensation value of the point measurement is delta Z which is the third direction inclination adjustment compensation value of the point measurement; d (D) x Compensating the value for the first direction of the target point, D y Compensating the value for the second direction of the target point, D z Compensating a value for a third direction of the target point; n (N) x For the total number of points or total number of points in the first direction, N l For the total number of points or total number of points in the second direction C x C is the current line of the point to be tested y Is the current column of the point to be tested.
It should be noted that, the first direction refers to the X axis, the second direction refers to the Y axis, and the third direction refers to the Z axis, if the material tray is parallel to the coordinate system where the manipulator is located, the third direction inclination adjustment compensation value, i.e. Δz, does not need to be calculated; if the coordinate system where the material tray and the manipulator are located is inclined, a third direction inclination adjustment compensation value, namely delta Z, needs to be calculated. And when the manipulator executes to the point position, the initial coordinates are obtained first, and then the initial coordinates and the corresponding compensation values are added. Specifically, the initial coordinates of the point to be measured are obtained in the same manner as the calculated coordinates of the target points, that is, the initial coordinates of the point to be measured are calculated according to the test coordinates and the point spacing.
According to the accurate verification industrial pickup method based on 4-point identification, whether the material tray is parallel to the coordinate system where the manipulator is located is determined, and when the material tray is parallel to the coordinate system where the manipulator is located, the known quantity is substituted into a compensation value calculation formula to obtain a parallel adjustment compensation value, so that initial coordinates of points to be detected are adjusted, the manipulator can accurately pick and place products when picking and placing the products, and the picking and placing success rate of the products is effectively improved.
The embodiment of the application also discloses an accurate verification industrial pickup system based on 4-point identification.
The accurate verification industrial pickup system based on 4-point identification comprises an identification module, an acquisition module and a calculation module;
the identification module is used for identifying and obtaining identification coordinates of a preset target point on the material disc through the identification system according to a preset test point on the material disc;
the acquisition module is used for acquiring the test coordinates of each test point location and obtaining calculation parameters according to the test coordinates; the calculation parameters comprise point location distance and total points;
the calculation module is used for calculating the calculated coordinates of the target point according to the calculated parameters and the test coordinates;
the acquisition module is used for acquiring a compensation value of the target point according to the identification coordinates and the calculation coordinates;
the identification module is used for acquiring initial coordinates of other points to be tested on the material tray;
the calculating module is used for adjusting the initial coordinates of each point to be measured on the material disc according to the compensation value.
The implementation principle of the accurate verification industrial pickup system based on 4-point identification in the embodiment of the application is as follows: on the original recognition system, the recognition of the target point is increased, the compensation value of the target point is obtained according to the recognition coordinate and the calculation coordinate of the target point, and finally, the initial coordinate of each point to be detected on the material disc is adjusted according to the compensation value, so that the manipulator can accurately pick and place the product when the product is picked and placed through the adjusted coordinate, and the product pick and place success rate is effectively improved.
The embodiment of the application also discloses an intelligent terminal, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the accurate verification industrial pickup method based on 4-point identification in the embodiment is adopted when the processor executes the computer program.
The intelligent terminal may adopt a computer device such as a desktop computer, a notebook computer or a cloud server, and the intelligent terminal includes, but is not limited to, a processor and a memory, for example, the intelligent terminal may further include an input/output device, a network access device, a bus, and the like.
The processor may be a Central Processing Unit (CPU), or of course, according to actual use, other general purpose processors, digital Signal Processors (DSP), application Specific Integrated Circuits (ASIC), ready-made programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., and the general purpose processor may be a microprocessor or any conventional processor, etc., which is not limited in this application.
The memory may be an internal storage unit of the intelligent terminal, for example, a hard disk or a memory of the intelligent terminal, or may be an external storage device of the intelligent terminal, for example, a plug-in hard disk, a Smart Memory Card (SMC), a secure digital card (SD) or a flash memory card (FC) provided on the intelligent terminal, or the like, and may be a combination of an internal storage unit of the intelligent terminal and an external storage device, where the memory is used to store a computer program and other programs and data required by the intelligent terminal, and the memory may be used to temporarily store data that has been output or is to be output, which is not limited in this application.
The accurate verification industrial pickup method based on 4-point identification in the embodiment is stored in the memory of the intelligent terminal through the intelligent terminal, and is loaded and executed on the processor of the intelligent terminal, so that the intelligent terminal is convenient to use.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (9)

1. An accurate verification industrial pickup method based on 4-point identification, which is characterized by comprising the following steps:
according to the preset test points on the material disc, identifying and obtaining identification coordinates of a preset target point on the material disc through an identification system; obtaining test coordinates of each test point location, and obtaining calculation parameters according to the test coordinates; the calculation parameters comprise point location distance and total points;
calculating to obtain the calculated coordinates of the target point according to the calculated parameters and the test coordinates;
acquiring a compensation value of the target point according to the identification coordinate and the calculation coordinate;
acquiring initial coordinates of other points to be detected on the material disc;
and adjusting the initial coordinates of each point to be tested on the material disc according to the compensation value.
2. The method for precisely verifying an industrial pick-up based on 4-point identification of claim 1, wherein the deriving the derived parameters from the test coordinates comprises:
judging whether the test interval is a plane rectangular interval or a three-dimensional interval;
if the test interval is the plane rectangular interval, determining a starting point coordinate and a plane direction coordinate of a plane coordinate axis through the test coordinate; the number of the plane direction coordinates is two;
acquiring plane interval information of the plane rectangular interval; the plane interval information comprises a first direction total point number and a second direction total point number;
acquiring the total points of the plane rectangular section according to the plane section information;
and acquiring the point location distance between adjacent point locations to be tested according to the starting point coordinates, the two plane direction coordinates and the plane interval information.
3. The precision verification industrial pick-up method based on 4-point identification of claim 2, wherein the method further comprises:
if the test interval is the three-dimensional interval, determining an origin coordinate and a space direction coordinate of a space coordinate axis through the test coordinate; the space coordinates are two;
acquiring three-dimensional interval information of the three-dimensional interval; the three-dimensional interval information comprises a first direction total number, a second direction total number and a height;
acquiring the total points of the three-dimensional interval according to the three-dimensional interval information;
and acquiring the point location distance between adjacent point locations to be tested according to the origin coordinates, the three space direction coordinates and the three-dimensional interval information.
4. The method of claim 3, wherein calculating the calculated coordinates of the target point according to the calculated parameters and the test coordinates comprises:
acquiring a target plane rectangular section in which the target point is located;
in the target plane rectangular section, acquiring the target number of the target points in the first direction and the target number of the target points in the second direction; acquiring a target starting point coordinate of the target plane rectangular section;
and calculating to obtain the calculation coordinates of the target point according to the target starting point coordinates, the target number in the first direction and the target number in the second direction.
5. The method for precisely verifying an industrial pick-up based on 4-point identification of claim 2, wherein said adjusting the initial coordinates of each of the points to be tested on the tray according to the compensation value comprises:
acquiring a to-be-detected plane rectangular interval in which the to-be-detected point is located, and acquiring a current row and a current column of the to-be-detected point in the to-be-detected plane rectangular interval;
judging whether the material tray is horizontal to a coordinate system where the manipulator is positioned;
substituting the compensation value, the first-direction total point number of the material disc, the second-direction total point number of the material disc, the current row of the point to be measured and the current column of the point to be measured into a preset compensation value calculation formula if the coordinate system where the material disc and the manipulator are positioned is horizontal, so as to obtain a parallel adjustment compensation value of the point to be measured, and adjust the initial coordinate of each point to be measured on the material disc; the compensation values include a first direction compensation value and a second direction compensation value; the parallel adjustment compensation value includes a first direction parallel adjustment compensation value and a second direction parallel adjustment compensation value.
6. The 4-point identification based precision verification industrial pick-up method of claim 5, further comprising:
if the coordinate system where the material disc and the manipulator are located is inclined, substituting the compensation value, the total first direction number, the total second direction number, the total third direction number and the current row and the current column of the point to be tested into a preset compensation value calculation formula to obtain an inclination adjustment compensation value of the point to be tested so as to adjust the initial coordinate of each point to be tested on the material disc; the compensation values include the first direction compensation value, the second direction compensation value, and a third direction compensation value; the tilt adjustment compensation values include a first direction tilt adjustment compensation value, a second direction tilt adjustment compensation value, and a third direction tilt adjustment compensation value.
7. The precision verification industrial pickup method based on 4-point identification of claim 6, wherein:
the compensation value calculation formula is as follows:
Figure FDA0004185774550000021
the delta X is a first direction parallel adjustment or inclination adjustment compensation value of the point to be measured, the delta Y is a second direction parallel adjustment or inclination adjustment compensation value of the point to be measured, and the delta Z is a third direction inclination adjustment compensation value of the point to be measured; the D is x Compensating the value for the first direction of the target point, the D y Compensating the value for the second direction of the target point, the D z Compensating a value for a third direction of the target point; the N is x For the total number of points or total number of points in the first direction, N is l The total point number or total number in the second direction is C x Is the current of the point to be testedIn the row, the C y And the current column of the point to be tested is the current column of the point to be tested.
8. An accurate verification industry pickup system based on 4 point discernment, its characterized in that: the device comprises an identification module, an acquisition module and a calculation module;
the identification module is used for identifying and obtaining identification coordinates of a preset target point on the material disc through the identification system according to a preset test point position on the material disc;
the acquisition module is used for acquiring the test coordinates of each test point location and obtaining calculation parameters according to the test coordinates; the calculation parameters comprise point location distance and total points;
the calculation module is used for calculating to obtain the calculation coordinates of the target point according to the calculation parameters and the test coordinates;
the acquisition module is used for acquiring the compensation value of the target point according to the identification coordinates and the calculation coordinates;
the identification module is used for acquiring initial coordinates of other points to be detected on the material disc;
the calculation module is used for adjusting the initial coordinates of each point to be measured on the material tray according to the compensation value.
9. A smart terminal comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, characterized in that the method according to any one of claims 1 to 7 is used when the computer program is loaded and executed by the processor.
CN202310418299.1A 2023-04-17 2023-04-17 Accurate verification industrial pickup method and system based on 4-point identification and intelligent terminal Pending CN116423511A (en)

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