CN116442249B - Assembly control method, assembly device, and computer-readable storage medium - Google Patents

Abstract

The invention discloses an assembly control method, assembly equipment and a computer-readable storage medium, and relates to the technical field of robot control. The standard sub-operation path corresponding to each assembly component is determined according to the use time of each assembly component, and the standard sub-operation path is generated based on the standard sub-operation path. Standard sub-job control data, based on the standard sub-job control data to control the assembly components for assembly, by determining the use time of each assembly component in the assembly equipment, based on the use time to determine the corresponding compensated sub-job path, that is, the standard sub-job path, In order to avoid the deviation of the working path of the assembly equipment over time, the corresponding standard sub-job control data is generated according to the standard sub-job path to control the assembly components, so as to avoid the shifting working path with the length of use The resulting low operating efficiency of the assembly equipment improves the control accuracy of the assembly equipment.

Description

Assembly control method, assembly device, and computer-readable storage medium

technical field

The invention relates to the technical field of robot control, in particular to an assembly control method, assembly equipment and a computer-readable storage medium.

Background technique

The assembly equipment currently on the market, such as SCARA (Selective Compliance Assembly Robot Arm, Selective Compliance Assembly Robot Arm) robots are widely used in the assembly work of plastics industry, automobile industry, electronics industry, pharmaceutical industry and food industry. The SCARA robot generally realizes the control of the SCARA robot's working path through the teaching method, but due to the passage of time, the SCARA robot's working path will gradually shift, resulting in a decrease in working efficiency. Based on this situation, technical personnel are usually required Adjust the offset by re-teaching the SCARA robot.

However, in specific applications, it is found that the teaching of the SCARA robot with the deviation of the working path by the technicians cannot satisfy the precise processing of the deviation, so that the action path of the SCARA robot after the re-teaching still has deviation.

Contents of the invention

The main purpose of the present invention is to provide an assembly control method, assembly equipment and computer-readable storage medium, aiming at solving the technical problem that the offset of the working path of the SCARA robot is difficult to adjust accurately.

To achieve the above object, the present invention provides an assembly control method, the assembly control method is applied to assembly equipment, the assembly equipment includes a number of assembly components, the assembly control method includes the following steps:

Determine the standard sub-job path corresponding to each of the assembly components according to the usage time of each of the assembly components, and generate standard sub-job control data based on the standard sub-job path, wherein the standard sub-job path is for the assembly component The sub-job path after compensation for the offset of the sub-job path existing under different usage durations;

The assembly components are controlled to be assembled based on the standard sub-job control data.

Optionally, before the step of determining the standard sub-work path corresponding to each of the assembly components according to the usage time of each of the assembly components, the method further includes:

Based on the preset workpiece coordinate positions of at least one set of preset operating points in the workpiece coordinate system, the assembly components are controlled to be assembled to form a set of first actual operating points;

Obtaining the first actual coordinate position of the first actual operation point in the pixel coordinate system by using a visual camera;

converting the first actual coordinate position into an actual workpiece coordinate position in the workpiece coordinate system according to a preset pixel-workpiece coordinate transformation relationship, wherein the preset pixel-workpiece coordinate transformation relationship is a preset pixel The conversion relationship between the coordinate system and the workpiece coordinate system;

A deviation is determined according to the preset workpiece coordinate position and the actual workpiece coordinate position, and the workpiece in the assembly assembly is corrected based on the deviation.

Optionally, after the step of correcting the workpiece in the assembly assembly based on the deviation, the method further includes:

selecting any one of said assembly components as a reference assembly;

According to the theoretical coordinate position of the theoretical working point on the working path corresponding to the reference assembly component and the non-reference assembly component respectively in the pixel coordinate system, control the reference assembly component and the non-reference assembly component to assemble, obtain The second actual operating points respectively corresponding to the reference assembly component and the non-reference assembly component;

Obtaining the second actual coordinate positions of the second actual working point corresponding to the reference assembly component and the non-reference assembly component respectively in the pixel coordinate system by using the visual camera;

According to the second actual coordinate position and the theoretical coordinate position respectively corresponding to the reference assembly component and the non-reference assembly component, determine the offset of each of the assembly components, wherein each of the assembly components The offset of the baseline assembly component is 0.

Optionally, the step of controlling the assembly components to be assembled based on the standard sub-job control data includes:

Based on the standard sub-job control data and the offset of each of the assembly components, the assembly components are controlled to be assembled.

Optionally, the step of generating standard sub-job control data based on the standard sub-job path includes:

Converting the standard sub-job path into a standard sub-job bitmap image;

The standard sub-job control data is generated according to the control content of each standard pixel in the standard sub-job bitmap image.

Optionally, after the step of generating standard sub-job control data based on the standard sub-job path, the method further includes:

Using a visual camera to obtain the historical coordinate positions of each historical pixel in the pixel coordinate system in the historical operation bitmap image;

converting the historical coordinate position into a historical workpiece coordinate position in the workpiece coordinate system according to the preset pixel-workpiece coordinate transformation relationship;

An offset correction amount and a rotation correction amount are determined according to a preset workpiece coordinate position of each historical pixel point in the workpiece coordinate system and the historical workpiece coordinate position.

Optionally, the step of controlling the assembly of the assembly components based on the standard sub-job control data and the offset of each of the assembly components includes:

correcting the standard sub-job control data by the offset correction amount and the rotation correction amount;

Based on the corrected standard sub-job control data and the offset of each assembly component, the assembly equipment is controlled to perform assembly.

Optionally, after the step of controlling the assembly components to be assembled based on the standard sub-job control data, the method further includes:

If it is detected that the assembly component is assembled based on the standard sub-operation control data, there is an error in the implementation path of the assembly component, and the error value of the assembly component is obtained through a sensor arranged in the assembly component;

A failure point of the assembled component is determined according to the error value.

In addition, in order to achieve the above object, the present invention also provides an assembly device, which includes a memory, a processor, and a computer processing program stored in the memory and operable on the processor. When the processor executes the computer processing program, the The steps of the above assembly control method.

In addition, to achieve the above object, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned assembly control method are realized.

The present invention determines the standard sub-job path corresponding to each assembly component according to the length of use of each assembly component, and generates standard sub-job control data based on the standard sub-job path. The offset of the sub-job path is compensated, and the assembly components are controlled based on the standard sub-job control data. By determining the use time of each assembly component in the assembly equipment, the corresponding compensated work path is determined based on the use time. That is, the standard sub-job path, so as to avoid the deviation of the working path of the assembly equipment over time, and generate the corresponding standard sub-job control data to control the assembly components according to the standard sub-job path, so as to avoid the deviation The low operating efficiency of the assembly equipment caused by the operation path improves the control accuracy of the assembly equipment, and at the same time avoids the inconvenience of requiring technicians to re-teach the assembly equipment, and improves the convenience of the assembly equipment.

Description of drawings

Fig. 1 is a schematic diagram of the terminal structure of the hardware operating environment involved in the solution of the embodiment of the present invention;

Fig. 2 is a schematic flow chart of the first embodiment of the assembly control method of the present invention;

Fig. 3 is the structural representation of SCAR robot;

Fig. 4 is a schematic flow chart of the second embodiment of the assembly control method of the present invention;

Fig. 5 is a schematic flowchart of a third embodiment of the assembly control method of the present invention.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

As shown in FIG. 1 , FIG. 1 is a schematic diagram of a terminal structure of a hardware operating environment involved in the solution of the embodiment of the present invention.

The application carrier of the assembly control method in the embodiment of the present invention is an assembly device. As shown in FIG. Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display area (Display) and an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. Optionally, the network interface 1004 may include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Optionally, the assembled device may also include a camera, an RF (Radio Frequency, radio frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Among them, sensors such as light sensors, motion sensors and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor may turn off the display screen and/or backlight. As a kind of motion sensor, the gravitational acceleration sensor can detect the magnitude of acceleration in various directions (generally three axes), and can detect the magnitude and direction of gravity when it is stationary, and can be used to identify the application of mobile terminal posture (such as horizontal and vertical screen switching, Related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tap), etc.; of course, the mobile terminal can also be equipped with other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor, etc. No longer.

Those skilled in the art can understand that the structure of the assembly equipment shown in FIG. 1 is not limited to the assembly equipment, and may include more or less components than shown in the figure, or combine some components, or arrange different components.

As shown in FIG. 1 , the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a computer processing program.

In the terminal shown in Figure 1, the network interface 1004 is mainly used to connect to the background server and perform data communication with the background server; the user interface 1003 is mainly used to connect to the client (client) and perform data communication with the client; and the processor 1001 can be used to call the computer processing program stored in memory 1005, and perform the following operations:

Determine the standard sub-job path corresponding to each of the assembly components according to the usage time of each of the assembly components, and generate standard sub-job control data based on the standard sub-job path, wherein the standard sub-job path is for the assembly component The job path after compensation for the offset of the sub-job paths that exist under different usage durations;

The assembly components are controlled to be assembled based on the standard sub-job control data.

Further, the processor 1001 can call the computer program stored in the memory 1005, and also perform the following operations:

Before the step of determining the standard sub-operation path corresponding to each of the assembly components according to the use time of each of the assembly components, based on the preset workpiece coordinate positions of at least one set of preset operating points in the workpiece coordinate system, the control The assembly components are assembled to form a set of first actual operating points;

Obtaining the first actual coordinate position of the first actual operation point in the pixel coordinate system by using a visual camera;

converting the first actual coordinate position into an actual workpiece coordinate position in the workpiece coordinate system according to a preset pixel-workpiece coordinate transformation relationship, wherein the preset pixel-workpiece coordinate transformation relationship is a preset pixel The conversion relationship between the coordinate system and the workpiece coordinate system;

A deviation is determined according to the preset workpiece coordinate position and the actual workpiece coordinate position, and the workpiece in the assembly assembly is corrected based on the deviation.

Further, the processor 1001 can call the computer program stored in the memory 1005, and also perform the following operations:

After the step of correcting the workpiece in the assembly assembly based on the deviation amount, selecting any one of the assembly assemblies as a reference assembly assembly;

According to the theoretical coordinate position of the theoretical working point on the working path corresponding to the reference assembly component and the non-reference assembly component respectively in the pixel coordinate system, control the reference assembly component and the non-reference assembly component to assemble, obtain The second actual operating points respectively corresponding to the reference assembly component and the non-reference assembly component;

Obtaining the second actual coordinate positions of the second actual working point corresponding to the reference assembly component and the non-reference assembly component respectively in the pixel coordinate system by using the visual camera;

According to the second actual coordinate position and the theoretical coordinate position respectively corresponding to the reference assembly component and the non-reference assembly component, determine the offset of each of the assembly components, wherein each of the assembly components The offset of the baseline assembly component is 0.

Further, the processor 1001 can call the computer program stored in the memory 1005, and also perform the following operations:

The step of controlling the assembly components to assemble based on the standard sub-job control data includes: controlling the assembly components to assemble based on the standard sub-job control data and the offset of each assembly component.

Further, the processor 1001 can call the computer program stored in the memory 1005, and also perform the following operations:

The step of generating standard sub-job control data based on the standard sub-job path includes: converting the standard sub-job path into a standard sub-job bitmap image;

The standard sub-job control data is generated according to the control content of each standard pixel in the standard sub-job bitmap image.

Further, the processor 1001 can call the computer program stored in the memory 1005, and also perform the following operations:

After the step of generating standard sub-job control data based on the standard sub-job path, using a visual camera to acquire the historical coordinate positions of each historical pixel point in the pixel coordinate system in the historical job bitmap image;

converting the historical coordinate position into a historical workpiece coordinate position in the workpiece coordinate system according to the preset pixel-workpiece coordinate transformation relationship;

An offset correction amount and a rotation correction amount are determined according to a preset workpiece coordinate position of each historical pixel point in the workpiece coordinate system and the historical workpiece coordinate position.

Further, the processor 1001 can call the computer program stored in the memory 1005, and also perform the following operations:

The step of controlling the assembly components to assemble based on the standard sub-job control data and the offset of each of the assembly components includes: correcting the standard by using the offset correction amount and the rotation correction amount Sub-job control data;

Based on the corrected standard sub-job control data and the offset of each assembly component, the assembly equipment is controlled to perform assembly.

Further, the processor 1001 can call the computer program stored in the memory 1005, and also perform the following operations:

After the step of controlling the assembly component to assemble based on the standard sub-job control data, if it is detected that there is an error in the implementation path of the assembly component for assembly based on the standard sub-job control data, then by setting A sensor in the assembly component acquires an error value of the assembly component;

A failure point of the assembled component is determined according to the error value.

Referring to FIG. 2, FIG. 2 is a schematic flow chart of the first embodiment of the assembly control method of the present invention, and the assembly control method includes the following steps:

Step A10: Determine the standard sub-work path corresponding to each assembly component according to the usage time of each assembly component, and generate standard sub-work control data based on the standard sub-work path, wherein the standard sub-work path is for all The work path after compensation for the offset of the sub-work paths existing in the assembly components under different use durations.

In this embodiment, the assembly robot to be manipulated is a SCARA robot as an example. The SCARA robot has four degrees of freedom, so the SCARA robot is divided into three groups of assembly components. Taking Figure 3 as an example, the first axis joint device 2001 The connection control device J1 between the second-axis joint device 2002 is classified as the first group of assembly components, and the connection control device J2 between the second-axis joint device 2002 and the third-axis joint device 2003 is classified as the second group of assembly components , the connection control device J3 between the third-axis joint device 2003 and the fourth-axis joint device 2004 is classified as the third group of assembly components.

Because the use time of each group of assembly components is not the same, the offset of the working path of each group of assembly components over time is also different. Therefore, this embodiment divides the assembly components based on the degree of freedom of the assembly equipment. After the standard sub-job path corresponding to the assembly component is determined based on the use time of each assembly component, the standard sub-job control data for controlling the assembly component is generated based on the determined standard sub-job path, so as to realize the control of each component in the assembly equipment. Precisely adjust the offset of assembly components over time to avoid determining the working path directly based on the overall use time of the assembly equipment and the use time of individual assembly components in the assembly equipment is too short or too long, resulting in The determined working path cannot be matched with individual assembly components, resulting in that the determined working path cannot effectively improve the deviation of the working path of the assembly equipment.

Wherein, because the use parameters of the assembly components of each manufacturer are different, the sub-job path after compensation matched with the use time corresponding to each assembly component is set by the previous manufacturer, which is not limited in this embodiment.

Step A20, controlling the assembly components to be assembled based on the standard sub-job control data.

After determining the standard sub-job control data corresponding to each assembly component through step A10, the assembly operation of the corresponding assembly component is directly controlled based on the standard sub-job control data, which can not only avoid the deviation of the work path caused by the passage of time, but also improve the assembly equipment. The efficiency of the operation, because it is the corresponding assembly operation for each assembly component in the assembly equipment, so it can also effectively improve the accuracy of the assembly operation of the assembly equipment, and at the same time, because it is directly based on the standard sub Operation control data, so it also avoids the inconvenience of requiring technicians to re-teach the assembly equipment, and improves the convenience of assembly equipment.

Optionally, the step of generating standard sub-job control data based on the standard sub-job path in step A10 includes:

Step A101, converting the standard sub-job path into a standard sub-job bitmap image.

Step A102, generating the standard sub-job control data according to the control content of each standard pixel in the standard sub-job bitmap image.

In this embodiment, after the standard sub-job path is converted into a standard sub-job path image, dot matrix filling is performed on the standard sub-job path image to form several rows of standard sub-job dot matrix images.

Since each standard pixel in each standard sub-job bitmap image contains control content, corresponding standard sub-job control data can be generated by extracting these standard pixels.

Among them, the standard sub-job control data includes workpiece deflection control data and binary data. Specifically, the standard sub-job control data is used to control the operation trajectory, and the operation trajectory can be from left to right, right to left, top to bottom, and /or from bottom to top, so as to realize horizontal operation or vertical operation, and ensure the integrity of the operation track.

Binary data is used to control the opening or closing of the corresponding assembly component. For example, when the binary data of an assembly component is 1, it means that the current assembly operation needs to be completed based on the assembly component, so the assembly component is turned on at this time. , control the assembly component to assemble based on the corresponding standard sub-job control data; when the binary data of an assembly component is 0, it means that it is not necessary to complete the assembly of the current corresponding process based on the assembly component. At this time, the assembly components are closed, so as to realize the precise control of the corresponding assembly components.

Optionally, after the step of controlling the assembly components to be assembled based on the standard sub-job control data in step A20, the method further includes:

Step A30, if it is detected that there is an error in the implementation path of the assembly component assembled based on the standard sub-job control data, the error value of the assembly component is acquired through a sensor set in the assembly component.

Step A40, determining the fault point of the assembly component according to the error value.

When there is still an error in the operation path during the subsequent assembly process of each assembly component based on the corresponding standard sub-job control data, the error value of each assembly component is obtained through the sensor set in the assembly component at this time, and the Value judges which assembly component’s work path error is caused by which workpiece, assuming that when the error value is used to determine the work path error caused by the a workpiece of the a assembly component, then the a workpiece of the a assembly component is generated to represent the assembly equipment The a workpiece of the a assembly component is the information of the fault point to remind the technician of the fault, so as to save the troubleshooting time and cost.

In this embodiment, by determining the standard sub-job path corresponding to each assembly component according to the use time of each assembly component, the standard sub-job control data is generated based on the standard sub-job path, wherein the standard sub-job path is for different usage of the assembly components The sub-job path after compensation for the offset of the sub-job path existing under the duration, controls the assembly components to assemble based on the standard sub-job control data, and determines the corresponding standard based on the usage time of each assembly component in the assembly equipment by determining the usage time Sub-job path, so as to avoid the deviation of the job path of the assembly equipment that exists over time, and generate corresponding standard sub-job control data to control the assembly components according to the standard sub-job path, so as to avoid the shifted job path The resulting low operating efficiency of the assembly equipment improves the control accuracy of the assembly equipment, and at the same time avoids the inconvenience of requiring technicians to re-teach the assembly equipment, and improves the convenience of the assembly equipment.

Referring to FIG. 4, FIG. 4 is a schematic flow chart of the second embodiment of the assembly control method of the present invention. Before the step of determining the standard sub-operation path corresponding to each assembly assembly according to the use time of each assembly assembly in step A10, the The method also includes:

Step B10, based on the preset workpiece coordinate positions of at least one set of preset operating points in the workpiece coordinate system, controlling the assembly components to assemble to form a set of first actual operating points;

Step B20, using a visual camera to obtain the first actual coordinate position of the first actual operation point in the pixel coordinate system;

Step B30, converting the first actual coordinate position into the actual workpiece coordinate position in the workpiece coordinate system according to the preset pixel-workpiece coordinate transformation relationship, wherein the preset pixel-workpiece coordinate transformation relationship is The conversion relationship between the set pixel coordinate system and the workpiece coordinate system;

Step B40, determining a deviation amount according to the preset workpiece coordinate position and the actual workpiece coordinate position, and correcting the workpiece in the assembly assembly based on the deviation amount.

In the second embodiment, in order to further improve the assembly control accuracy of the assembly equipment, this embodiment proposes to correct the workpieces in the assembly assembly.

Specifically, due to the influence of environmental temperature and humidity, electrode loss, etc., the workpieces in the assembly components will deviate over time, which will lead to deviations in the working path of the assembly components composed of workpieces during the processing process, which will cause The assembly control accuracy of the assembly equipment is low.

In this embodiment, the assembly device includes a vision camera with a matching pixel coordinate system. The assembly equipment will pre-build the transformation relationship between the pixel coordinate system and the workpiece coordinate system, and set the pixel coordinate system of the visual camera and the workpiece coordinate system (that is, the preset pixel-workpiece coordinate transformation relationship), and set up for each assembly component The preset workpiece coordinate positions of at least one set of preset operating points in the workpiece coordinate system. Before the formal assembly control, the assembly components are first controlled to assemble according to the preset workpiece coordinate positions of the preset operating points in the workpiece coordinate system, generating A set of first actual operating points.

Then use the visual camera to measure the first actual coordinate position of the first actual operation point in the pixel coordinate system, and then convert the first actual coordinate position into the actual workpiece in the workpiece coordinate system according to the preset pixel-workpiece coordinate transformation relationship coordinate position, and then compare the coordinate position of the actual workpiece coordinate position in the workpiece coordinate system with the preset workpiece coordinate position of the corresponding preset operation point in the workpiece coordinate system. If there is a deviation, calculate and determine the deviation amount, The workpieces in the corresponding assembly components are corrected according to the deviation amount, so as to realize the deviation correction of the workpieces in each assembly component, and further improve the control accuracy of the assembly equipment.

Optionally, after the step of correcting the workpiece in the assembly assembly based on the deviation in step B40, the method further includes:

Step B50, selecting any one of the assembled components as a reference assembled component.

In another embodiment, after correcting the workpieces in each assembly assembly, any assembly assembly will be selected from each assembly assembly as the reference assembly assembly, and other unselected assembly assemblies will be used as non-reference assembly components. The assembly component calibrates other non-reference assembly components, so as to ensure the continuity and accuracy of the assembly control operation path formed by the assembly components.

Step B60, according to the theoretical coordinate position of the theoretical working point on the working path corresponding to the reference assembly component and the non-reference assembly component respectively in the pixel coordinate system, control the reference assembly component and the non-reference assembly component to perform Assembling, obtaining second actual operating points respectively corresponding to the reference assembly component and the non-reference assembly component.

Step B70, using the visual camera to obtain the second actual coordinate positions of the second actual working point corresponding to the reference assembly component and the non-reference assembly component respectively in the pixel coordinate system;

Step B80, according to the second actual coordinate position and the theoretical coordinate position corresponding to the reference assembly component and the non-reference assembly component, determine the offset of each assembly component, wherein each assembly The base assembly component in the component has an offset of 0.

According to the theoretical coordinate position of the theoretical working point in the pixel coordinate system corresponding to the reference assembly component and the non-reference assembly component respectively, after the reference assembly component and the non-reference assembly component are assembled, the reference assembly component and the non-reference assembly are respectively obtained The second actual operating point corresponding to the assembly component, and then use the visual camera to obtain the second actual coordinate position of the second actual operating point corresponding to the reference assembly component and the non-reference assembly component in the pixel coordinate system, according to the reference assembly component and the non-reference assembly component The coordinate positions of the second actual coordinate positions and theoretical coordinate positions corresponding to the assembly components in the pixel coordinate system are calculated to obtain the offset of each assembly component, wherein the offset of the assembly component selected as the reference assembly component is 0 .

Specifically, the calculation process of the offset is: according to the theoretical coordinate position of the theoretical operating point of the non-benchmark assembly component and the theoretical coordinate position of the theoretical operating point of the reference assembly component, calculate the theoretical operating point of the non-benchmark assembly component and the reference assembly component The theoretical operating points of the theoretical operating points are respectively the first theoretical difference in the X-axis direction, the second theoretical difference in the Y-axis direction, and the third theoretical difference in the Z-axis direction, and then according to the second actual operation of the non-benchmark assembly components Point and the second actual coordinate position of the second actual operating point of the reference assembly component in the pixel coordinate system, calculate the second actual operating point of the non-reference assembly component and the second actual operating point of the reference assembly component in the X-axis direction The first actual difference, the second actual difference in the Y-axis direction, and the third actual difference in the Z-axis direction, calculate the first difference between the first actual difference and the first theoretical difference as a non-reference The offset of the assembly component in the X-axis direction, calculate the second difference between the second actual difference and the second theoretical difference as the offset of the non-reference assembly component in the Y-axis direction, and calculate the third actual The third difference between the difference and the third theoretical difference is used as the offset of the non-reference assembly component in the Z-axis direction.

Optionally, in step A20, the step of controlling the assembly components to be assembled based on the standard sub-job control data includes:

Step A201, based on the standard sub-job control data and the offset of each of the assembly components, control the assembly components to be assembled.

Due to the passage of use time, when the respective working paths of the installed assembly components are spliced together, the deviation of the connection will cause the problem of low accuracy of the overall working path. Based on this, this embodiment proposes to pass Determine a baseline assembly component, and then use the theoretical and actual deviations between other non-baseline assembly components and the baseline assembly component to determine the offset of each non-baseline assembly component, specifically: after obtaining the assembly that is not selected as the baseline assembly component After the offset of the components, the standard sub-job control data will be offset according to the offset corresponding to each assembly component to obtain the offset standard sub-job control data of each assembly component, and then according to the offset standard sub-job control data The operation control data controls the assembly of each assembly component, so that when the corresponding operation paths of the installed assembly components are spliced together, the deviation at the connection is close to 0, so as to improve the accuracy of the overall operation path.

In this embodiment, based on the preset workpiece coordinate positions of at least one set of preset operating points in the workpiece coordinate system, the assembly components are controlled to assemble to form a set of first actual operating points, and the first actual operating points are obtained by using a visual camera. The first actual coordinate position of the point in the pixel coordinate system, according to the preset pixel-workpiece coordinate conversion relationship, convert the first actual coordinate position into the actual workpiece coordinate position in the workpiece coordinate system, according to the preset workpiece coordinate position and the actual The workpiece coordinate position determines the deviation amount, and based on the deviation amount, the workpiece in the assembly component is corrected to realize the deviation correction of the workpiece in each assembly component, and further improve the control accuracy of the assembly equipment.

Referring to FIG. 5, FIG. 5 is a schematic flowchart of the third embodiment of the assembly control method of the present invention. After the step of generating standard sub-job control data based on the standard sub-job path in step A10, the method further includes:

Step C10, using the visual camera to obtain the historical coordinate positions of each historical pixel in the historical operation bitmap image in the pixel coordinate system.

In this embodiment, since the standard sub-job control data generated in step A10 is the job control data generated by the manufacturer’s preset and predicted job path under a certain usage time of the assembly component, but in the actual assembly process, The working path of the assembly component may not be changed according to the pre-forecast change rules, and a certain offset or rotation may occur.

Therefore, before the control assembly components are assembled, the same historical operation path of each assembly component will be obtained first, and after the historical operation path is converted into a historical operation path map, the historical operation path map will be dot matrix filled and spliced to form a historical operation dot matrix image , the visual camera is used to obtain the historical coordinate position of each historical pixel point in the pixel coordinate system in the historical operation bit matrix image, and the actual path change rule of the assembly equipment is determined through the historical coordinate position.

Step C20, converting the historical coordinate position into the historical workpiece coordinate position in the workpiece coordinate system according to the preset pixel-workpiece coordinate conversion relationship;

Step C30, determining an offset correction amount and a rotation correction amount according to the preset workpiece coordinate position of each historical pixel point in the workpiece coordinate system and the historical workpiece coordinate position.

According to the preset pixel-workpiece coordinate conversion relationship, the historical coordinate position is converted into the historical workpiece coordinate position in the workpiece coordinate system, and then the preset workpiece coordinate position and historical workpiece coordinate position of each historical pixel point in the workpiece coordinate system are calculated. Comparing and calculating, it is determined to obtain the offset correction amount and the rotation correction amount of each assembly component, wherein the preset workpiece coordinate position is the workpiece coordinate position corresponding to the pre-predicted historical pixel point.

It should be noted that, when no offset occurs, the offset correction amount is 0; when no rotation occurs, the rotation correction amount is 0.

Optionally, in step A201, based on the standard sub-job control data and the offset of each of the assembly components, the step of controlling the assembly components to assemble includes:

Step C40, correcting the standard sub-job control data by using the offset correction amount and the rotation correction amount;

Step C50, based on the corrected standard sub-job control data and the offset of each assembly component, control the assembly equipment to perform assembly.

Because in the actual assembly process, the operation path of the assembly component may not be changed according to the pre-predicted change rules, and a certain offset or rotation may occur. The assembly control of the components is limited, and the control accuracy of the improved assembly equipment is limited. Therefore, based on this situation, this embodiment proposes to obtain the offset correction amount by using a visual camera to obtain the historical operation path of the assembly equipment and compare it with the pre-predicted operation path. and rotation correction amount, so as to correct the standard operation control data (composed of the standard sub-operation control data corresponding to each assembly component), through the corrected standard sub-operation control data and the offset of each assembly component. The assembly control of the assembly equipment can eliminate the deviation of the predicted standard sub-job control data, improve the accuracy of assembly control of assembly components, and then improve the efficiency of assembly control.

In this embodiment, by using a visual camera to obtain the historical coordinate position of each historical pixel point in the pixel coordinate system in the historical operation bit matrix image, according to the preset pixel-workpiece coordinate conversion relationship, the historical coordinate position is converted into the workpiece coordinate position The historical workpiece coordinate position in the workpiece coordinate system, according to the preset workpiece coordinate position and historical workpiece coordinate position of each historical pixel point in the workpiece coordinate system, determine the offset correction amount and rotation correction amount, based on the offset correction amount and rotation correction amount. The standard sub-job control data is corrected to eliminate the deviation of the predicted standard sub-job control data, improve the assembly control accuracy of the assembled components, and then improve the assembly control efficiency.

In addition, an embodiment of the present invention also proposes an assembly device, which includes a memory, a processor, and a computer processing program stored on the memory and operable on the processor. When the processor executes the computer program, the above-mentioned assembly is realized. The steps of the control method.

In addition, the present invention also proposes a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above assembly control method are implemented.

It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in one of the above storage media (such as ROM/RAM, magnetic CD, CD), including several instructions to make a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the method of each embodiment of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Claims (10)

1. A fitting control method, characterized in that the fitting control method is applied to a fitting apparatus including a plurality of fitting components, the fitting control method comprising the steps of:

determining a standard sub-operation path corresponding to each assembly component according to the use time length of each assembly component, and generating standard sub-operation control data based on the standard sub-operation path, wherein the standard sub-operation path is a sub-operation path after compensating the deviation of the sub-operation path existing under different use time lengths of the assembly components;

and controlling the assembly component to assemble based on the standard sub-operation control data.

2. The assembly control method according to claim 1, wherein, before the step of determining the standard sub-job path corresponding to each of the assembly components according to the use time period of each of the assembly components, the method further comprises:

Controlling the assembly component to assemble based on the preset workpiece coordinate position of at least one set of preset operation points in a workpiece coordinate system to form a set of first actual operation points;

acquiring a first actual coordinate position of the first actual operation point in a pixel coordinate system by adopting a visual camera;

converting the first actual coordinate position into an actual workpiece coordinate position in the workpiece coordinate system according to a preset pixel-workpiece coordinate conversion relationship, wherein the preset pixel-workpiece coordinate conversion relationship is a conversion relationship between a preset pixel coordinate system and a workpiece coordinate system;

and determining a deviation amount according to the preset workpiece coordinate position and the actual workpiece coordinate position, and correcting the workpiece in the assembly component based on the deviation amount.

3. The fitting control method according to claim 2, characterized in that, after the step of correcting the workpiece in the fitting assembly based on the deviation amount, the method further comprises:

selecting any assembly component as a reference assembly component;

according to the theoretical coordinate positions of theoretical operation points on the working paths respectively corresponding to the reference assembly component and the non-reference assembly component in the pixel coordinate system, controlling the reference assembly component and the non-reference assembly component to carry out assembly, and obtaining second actual operation points respectively corresponding to the reference assembly component and the non-reference assembly component;

Acquiring second actual coordinate positions of the second actual working points corresponding to the reference assembly component and the non-reference assembly component in the pixel coordinate system by adopting the vision camera;

and determining the offset of each assembly component according to the second actual coordinate position and the theoretical coordinate position respectively corresponding to the reference assembly component and the non-reference assembly component, wherein the offset of each reference assembly component in each assembly component is 0.

4. The assembly control method according to claim 3, wherein the step of controlling the assembly component to be assembled based on the standard sub-job control data comprises:

and controlling the assembly components to be assembled based on the standard sub-operation control data and the offset of each assembly component.

5. The assembly control method of claim 4, wherein the step of generating standard sub-job control data based on the standard sub-job path comprises:

converting the standard sub-operation path into a standard sub-operation lattice image;

and generating the standard sub-job control data according to the control content of each standard pixel point in the standard sub-job dot matrix image.

6. The assembly control method of claim 5, wherein after the step of generating standard sub-job control data based on the standard sub-job path, the method further comprises:

acquiring historical coordinate positions of each historical pixel point in the historical operation dot matrix image in the pixel coordinate system by adopting a visual camera;

converting the historical coordinate position into a historical workpiece coordinate position in the workpiece coordinate system according to the preset pixel-workpiece coordinate conversion relation;

and determining an offset correction amount and a rotation correction amount according to the preset workpiece coordinate positions of the historical pixel points in the workpiece coordinate system and the historical workpiece coordinate positions.

7. The assembly control method of claim 6, wherein the step of controlling the assembly of the assembly components based on the standard sub-job control data and the offset of each of the assembly components comprises:

correcting the standard sub-job control data by the offset correction amount and the rotation correction amount;

and controlling the assembly equipment to assemble based on the corrected standard sub-operation control data and the offset of each assembly component.

8. The assembly control method according to claim 7, wherein after the step of controlling the assembly component to be assembled based on the standard sub-job control data, the method further comprises:

if detecting that the assembly component is assembled based on the standard sub-operation control data and has errors in an implementation operation path, acquiring an error value of the assembly component through a sensor arranged in the assembly component;

and determining a fault point of the assembly component according to the error value.

9. An assembly apparatus, the assembly apparatus comprising: memory, a processor and a computer processing program stored on the memory and executable on the processor, the processor implementing the steps of the assembly control method according to any one of claims 1 to 8 when the computer processing program is executed.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the assembly control method of any one of claims 1 to 8.