CN116442249B - Assembly control method, assembly device, and computer-readable storage medium - Google Patents
Assembly control method, assembly device, and computer-readable storage medium Download PDFInfo
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- CN116442249B CN116442249B CN202310722117.XA CN202310722117A CN116442249B CN 116442249 B CN116442249 B CN 116442249B CN 202310722117 A CN202310722117 A CN 202310722117A CN 116442249 B CN116442249 B CN 116442249B
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000006243 chemical reaction Methods 0.000 claims description 22
- 239000011159 matrix material Substances 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
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Classifications
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an assembly control method, an assembly device and a computer readable storage medium, which relate to the technical field of robot control, and are characterized in that standard sub-operation paths corresponding to all assembly components are determined according to the use time length of all assembly components, standard sub-operation control data are generated based on the standard sub-operation paths, the assembly components are controlled to be assembled based on the standard sub-operation control data, the use time length of all assembly components in the assembly device is determined, the corresponding compensated sub-operation paths, namely the standard sub-operation paths, are determined based on the use time length of all assembly components, so that the phenomenon of offset of the operation paths of the assembly device existing along with the time is avoided, the assembly components are controlled according to the standard sub-operation paths, the situation of low operation efficiency of the assembly device caused by the offset operation paths along with the use time length is avoided, and the control accuracy of the assembly device is improved.
Description
Technical Field
The present invention relates to the field of robot control technologies, and in particular, to an assembly control method, an assembly device, and a computer readable storage medium.
Background
The current assembly equipment such as SCARA (Selective Compliance Assembly Robot Arm ) robots are widely applied to assembly works in the fields of plastic industry, automobile industry, electronic product industry, pharmaceutical industry, food industry and the like, and the current SCARA robots generally realize control of the working path of the SCARA robots by teaching, but due to the time lapse, the working path of the SCARA robots gradually deviates, so that the working efficiency is reduced, and based on the situation, a technician is generally required to teach the SCARA robots again to adjust the deviation.
In particular applications, it has been found that the teaching of the SCARA robot with the offset of the working path by the technician cannot meet the requirement of accurately processing the offset, so that the action path of the SCARA robot after the re-teaching still has the offset.
Disclosure of Invention
The invention mainly aims to provide an assembly control method, an assembly device and a computer readable storage medium, and aims to solve the technical problem that the offset of a working path of a SCARA robot is difficult to accurately adjust.
In order to achieve the above object, the present invention provides a fitting control method applied to a fitting apparatus including a plurality of fitting components, the fitting control method including 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.
Optionally, before the step of determining the standard sub-job path corresponding to each assembly component according to the usage time length of each assembly component, the method further includes:
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.
Optionally, after the step of correcting the workpiece in the assembly based on the amount of deviation, 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.
Optionally, the step of controlling the assembly component to assemble based on the standard sub-job control data includes:
and controlling the assembly components to be assembled based on the standard sub-operation control data and the offset of each assembly component.
Optionally, the step of generating standard sub-job control data based on the standard sub-job path includes:
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.
Optionally, 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.
Optionally, the step of controlling the assembly component to assemble based on the standard sub-job control data and the offset of each assembly component includes:
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.
Optionally, after the step of controlling the assembly component to be assembled based on the standard sub-job control data, the method further includes:
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.
In addition, in order to achieve the above object, the present invention also provides an assembling apparatus, including a memory, a processor, and a computer processing program stored on the memory and executable on the processor, wherein the processor implements the steps of the above assembling control method when executing the computer processing program.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the above-described assembly control method.
According to the invention, the standard sub-operation paths corresponding to the assembly components are determined according to the using time lengths of the assembly components, and the standard sub-operation control data is generated based on the standard sub-operation paths, wherein the standard sub-operation paths are operation paths which are used for compensating the deviation of the sub-operation paths of the assembly components under different using time lengths, the assembly components are controlled to be assembled based on the standard sub-operation control data, the using time lengths of the assembly components in the assembly equipment are determined, the corresponding compensated operation paths, namely the standard sub-operation paths, are determined based on the using time lengths of the assembly components, so that the phenomenon of deviation of the operation paths of the assembly equipment existing over time is avoided, the assembly components are controlled according to the standard sub-operation paths, the situation that the operation efficiency of the assembly equipment is low due to the deviation operation paths is avoided, the control accuracy of the assembly equipment is improved, meanwhile, the inconvenience caused by the fact that technicians are required to re-teach the assembly equipment is avoided, and the convenience of the assembly equipment is improved.
Drawings
FIG. 1 is a schematic diagram of a terminal structure of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of the assembly control method of the present invention;
FIG. 3 is a schematic structural view of a SCAR robot;
FIG. 4 is a flow chart of a second embodiment of the assembly control method of the present invention;
fig. 5 is a flow chart of a third embodiment of the assembly control method of the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present invention.
In the assembly control method according to the embodiment of the present invention, the application carrier is an assembly device, as shown in fig. 1, where the assembly device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display area (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., 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. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
The optional mounting device may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, wiFi modules, and the like. Among other sensors, such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal moves to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the acceleration in all directions (generally three axes), and can detect the gravity and the direction when the mobile terminal is stationary, and the mobile terminal can be used for recognizing the gesture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking), and the like; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and the like, which are not described herein.
It will be appreciated by those skilled in the art that the configuration of the assembly apparatus shown in fig. 1 is not limiting of the assembly apparatus and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a computer processing program may be included in the memory 1005, which is a type of computer storage medium.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a computer processing program stored in the memory 1005 and perform the following operations:
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 an 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.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further perform the following operations:
before the step of determining a standard sub-operation path corresponding to each assembly component according to the use time length of each assembly component, controlling the assembly components to be assembled based on the preset workpiece coordinate positions of at least one group of preset operation points in a workpiece coordinate system to form a group 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.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further perform the following operations:
after the step of correcting the work pieces in the fitting components based on the deviation amount, selecting any one of the fitting components as a reference fitting 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.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further perform the following operations:
the step of controlling the assembly component to assemble based on the standard sub-job control data comprises the following steps: and controlling the assembly components to be assembled based on the standard sub-operation control data and the offset of each assembly component.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further 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-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.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further perform the following operations:
after the step of generating standard sub-job control data based on the standard sub-job path, acquiring historical coordinate positions of each historical pixel point in the pixel coordinate system in the historical job lattice image 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.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further 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 assembly component comprises the following steps: 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.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further perform the following operations:
after the step of controlling the assembly component to be assembled based on the standard sub-operation control data, if an error exists in an implementation operation path of the assembly component to be assembled based on the standard sub-operation control data, 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.
Referring to fig. 2, fig. 2 is a flow chart of a first embodiment of the assembly control method of the present invention, the assembly control method comprising the steps of:
and step A10, 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 an operation path after compensating the deviation of the sub-operation path existing under different use time lengths of the assembly components.
In the present embodiment, the assembly robot to be controlled is exemplified as a SCARA robot, and the degree of freedom of the SCARA robot is four, so the SCARA robot is divided into 3 assembly components, and fig. 3 is exemplified, namely, the connection control device J1 between the first shaft joint device 2001 and the second shaft joint device 2002 is classified as a first assembly component, the connection control device J2 between the second shaft joint device 2002 and the third shaft joint device 2003 is classified as a second assembly component, and the connection control device J3 between the third shaft joint device 2003 and the fourth shaft joint device 2004 is classified as a third assembly component.
Because the use time periods of each assembly component are different, and therefore the offset of the working paths of each assembly component existing along the time period is also different, the embodiment divides the assembly components based on the degree of freedom of the assembly equipment to determine the standard sub-working paths corresponding to the assembly components based on the use time periods of each assembly component, and then generates standard sub-working control data for controlling the assembly components based on the determined standard sub-working paths, thereby realizing accurate adjustment of the offset of each assembly component in the assembly equipment along the time period, avoiding the situation that the use time period of the individual assembly components in the assembly equipment is too short or too long due to the determination of the working paths directly based on the whole use time periods of the assembly equipment, resulting in the fact that the determined working paths cannot be matched with the individual assembly components, and further effectively improving the situation that the working paths of the assembly equipment have offset.
Because the usage parameters of the assembly components of each manufacturer are different, the compensated sub-operation path matched with the usage time period corresponding to each assembly component is set by the previous manufacturer, which is not limited in this embodiment.
And step A20, controlling the assembly component to assemble based on the standard sub-operation control data.
After the standard sub-operation control data corresponding to each assembly component is determined in the step A10, the assembly operation of the corresponding assembly component is directly controlled based on the standard sub-operation control data, so that not only can the operation path deviation caused by time lapse be avoided and the operation efficiency of the assembly equipment be improved, but also the assembly operation precision of the assembly equipment can be effectively improved because the corresponding assembly operation is performed on each assembly component in the assembly equipment, and meanwhile, inconvenience caused by the fact that technicians need to re-teach the assembly equipment is avoided and the convenience of the assembly equipment is improved because the standard sub-operation control data determined by the automatic matching of the use time length of the assembly components is directly used.
Optionally, the step of generating standard sub-job control data based on the standard sub-job path in step a10 includes:
And step A101, converting the standard sub-job path into a standard sub-job dot matrix image.
And step A102, 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.
In this embodiment, after converting the standard sub-job path into the standard sub-job path image, the standard sub-job path image is dot-matrix-filled to form a plurality of rows of standard sub-job dot-matrix images.
Because each standard pixel point in each standard sub-job dot matrix image contains control content, corresponding standard sub-job control data can be generated through extracting the standard pixel points.
The standard sub-operation control data comprises workpiece deflection control data and binary data, and specifically, the standard sub-operation control data is used for controlling an operation track, wherein the operation track can be left to right, right to left, up to down and/or down to up, so that transverse operation or vertical operation is realized, and the integrity of the operation track is ensured.
The binary data is used for controlling the corresponding assembly component to be opened or closed, for example, when the binary data of a certain assembly component is 1, the assembly operation of a certain flow is required to be completed based on the assembly component, so that the assembly component is opened at this time, and the assembly component is controlled to be assembled based on the corresponding standard sub-operation control data; when the binary data of a certain assembly component is 0, the current assembly operation of the current corresponding flow is not required to be completed or the current assembly operation of the corresponding flow is not required to be completed based on the assembly component, and the assembly component is closed at each moment, so that the accurate control of the corresponding assembly component is realized.
Optionally, after the step of controlling the assembly component to be assembled based on the standard sub-job control data in step a20, the method further includes:
and step A30, if detecting that the assembly component has errors in the implementation operation path for assembling based on the standard sub-operation control data, acquiring an error value of the assembly component through a sensor arranged in the assembly component.
And step A40, determining the fault point of the assembly component according to the error value.
When the error of the operation path still exists in the process of assembling the assembly components based on the corresponding standard sub-operation control data, the error value of each assembly component is acquired through a sensor arranged in the assembly component, the error value is used for judging the error of the operation path caused by which workpiece of which assembly component is specific, and when the error value is used for determining the error of the operation path caused by the a workpiece of the a assembly component, the information representing that the a workpiece of the a assembly component of the assembly equipment is a fault point is generated according to the a workpiece of the a assembly component so as to remind a technician of the fault, so that the fault checking time and the fault checking cost are saved.
In this embodiment, the standard sub-job paths corresponding to the assembly components are determined according to the use time lengths of the assembly components, and the standard sub-job control data is generated based on the standard sub-job paths, wherein the standard sub-job paths are sub-job paths after compensating for the deviations of the sub-job paths of the assembly components existing under different use time lengths, the assembly components are controlled to be assembled based on the standard sub-job control data, the use time lengths of the assembly components in the assembly equipment are determined, the corresponding standard sub-job paths are determined based on the use time lengths of the assembly components, so that the phenomenon that the job paths of the assembly equipment deviate over time is avoided, the assembly components are controlled according to the standard sub-job paths, the situation that the operation efficiency of the assembly equipment is low due to the deviated job paths is avoided, the control accuracy of the assembly equipment is improved, meanwhile, the inconvenience caused by the fact that technicians teach the assembly equipment again is avoided, and the convenience of the assembly equipment is improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a second embodiment of the assembly control method according to the present invention, before the step of determining the standard sub-job path corresponding to each assembly component according to the usage time length of each assembly component in step a10, the method further includes:
Step B10, controlling the assembly component to assemble based on the preset workpiece coordinate positions of at least one set of preset operation points in a workpiece coordinate system to form a set of first actual operation points;
step B20, acquiring a first actual coordinate position of the first actual operation point in a pixel coordinate system by adopting a visual camera;
step B30, 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 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 component based on the deviation amount.
In the second embodiment, in order to further improve the accuracy of the assembly control of the assembly apparatus, the present embodiment proposes to correct the work in the assembly component.
Specifically, due to environmental temperature and humidity influence, electrode loss and other reasons, the workpieces in the assembly component can deviate along with the passage of the service time, so that the deviation exists in the operation path of the assembly component formed by the workpieces in the processing process, and the condition of low assembly control accuracy of assembly equipment is caused.
In this embodiment, the assembly device includes a vision camera having a matched pixel coordinate system. The assembly equipment can unify the pixel coordinate system of the vision camera and the workpiece coordinate system (namely, the preset pixel-workpiece coordinate conversion relation) through pre-constructing the conversion relation between the pixel coordinate system and the workpiece coordinate system, preset workpiece coordinate positions of at least one group of preset operation points in the workpiece coordinate system are set for each assembly component, and before the assembly control is formally performed, the assembly component is controlled to assemble according to the preset workpiece coordinate positions of the preset operation points in the workpiece coordinate system, so that a group of first actual operation points are generated.
And then, after the first actual coordinate position of the first actual operation point in the pixel coordinate system is measured by utilizing a vision 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 relation, comparing 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 deviation exists, correcting the workpiece in the corresponding assembly component according to the deviation after the deviation is calculated and determined, so that the deviation correction of the workpiece in each assembly component is realized, and the control accuracy of the assembly equipment is further improved.
Optionally, after the step of correcting the workpiece in the assembly based on the deviation amount in step B40, the method further includes:
and step B50, selecting any assembly component as a reference assembly component.
In another embodiment, after correcting the workpiece in each assembly, any assembly is selected from the assemblies as a reference assembly, other unselected assemblies are used as non-reference assemblies, and the other non-reference assemblies are calibrated based on the reference assembly, so that continuity and accuracy of an assembly control operation path formed by each assembly are ensured.
And step B60, controlling the reference assembly component and the non-reference assembly component to assemble according to the theoretical coordinate positions of theoretical operation points on the working paths corresponding to the reference assembly component and the non-reference assembly component respectively in the pixel coordinate system, and obtaining second actual operation points corresponding to the reference assembly component and the non-reference assembly component respectively.
Step B70, acquiring second actual coordinate positions of the second actual operation points corresponding to the reference assembly component and the non-reference assembly component respectively in the pixel coordinate system by adopting the vision camera;
And step B80, determining the offset of each assembly component according to the second actual coordinate position and the theoretical coordinate position corresponding to the reference assembly component and the non-reference assembly component respectively, wherein the offset of the reference assembly component in each assembly component is 0.
According to theoretical coordinate positions of theoretical operation points on working paths corresponding to the reference assembly component and the non-reference assembly component in a pixel coordinate system, controlling the reference assembly component and the non-reference assembly component to assemble, respectively obtaining second actual operation points corresponding to the reference assembly component and the non-reference assembly component, then obtaining second actual coordinate positions of the second actual operation points corresponding to the reference assembly component and the non-reference assembly component in the pixel coordinate system by using a vision camera, and calculating according to coordinate positions of the second actual coordinate positions and the theoretical coordinate positions corresponding to the reference assembly component and the non-reference assembly component in the pixel coordinate system, so as to obtain offset of each assembly component, wherein the offset of the assembly component selected as the reference assembly component is 0.
Specifically, the offset calculation process is: according to the theoretical coordinate position of the theoretical operating point of the non-reference assembly and the theoretical coordinate position of the theoretical operating point of the reference assembly, calculating a first theoretical difference value in the X-axis direction, a second theoretical difference value in the Y-axis direction and a third theoretical difference value in the Z-axis direction of the theoretical operating point of the non-reference assembly and the theoretical operating point of the reference assembly respectively, then calculating a first actual difference value in the X-axis direction, a second actual difference value in the Y-axis direction and a third actual difference value in the Z-axis direction of the second actual operating point of the non-reference assembly and the second actual operating point of the reference assembly respectively according to the second actual coordinate positions of the second actual operating point of the non-reference assembly and the second actual operating point of the reference assembly in the pixel coordinate system, calculating a first difference value between the first actual difference value and the first theoretical operating point of the non-reference assembly as the offset of the non-reference assembly in the X-axis direction, calculating a second difference value between the second actual difference value and the second actual difference value as the offset of the non-reference assembly in the Y-axis direction, and a third actual difference value between the second actual difference value and the third actual difference value as the offset of the non-reference assembly in the Z-axis direction.
Optionally, the step of controlling the assembly component to assemble based on the standard sub-job control data in step a20 includes:
and step A201, controlling the assembly components to be assembled based on the standard sub-operation control data and the offset of each assembly component.
Because the problem of low accuracy of the overall working path caused by the deviation of the connection point exists when the working paths corresponding to the mounted assembly components are spliced together along with the lapse of the use time, the embodiment proposes to determine the offset of each non-reference assembly component by determining one reference assembly component and then determining the theoretical deviation and the actual deviation of the other non-reference assembly components and the reference assembly component, specifically: after the offset of the assembly components which are not selected as the reference assembly components is obtained, the standard sub-operation control data are offset according to the offset corresponding to each assembly component, the standard sub-operation control data after the offset of each assembly component are obtained, and then each assembly component is controlled to be assembled according to the standard sub-operation control data after the offset, so that when the corresponding operation paths of the assembly components after installation are spliced together, the deviation existing at the connecting position is approximately 0, and the accuracy of the whole operation path is improved.
In this embodiment, the assembly component is controlled to assemble based on the preset workpiece coordinate positions of at least one set of preset operation points in the workpiece coordinate system to form a set of first actual operation points, a visual camera is adopted to obtain the first actual coordinate positions of the first actual operation points in the pixel coordinate system, the first actual coordinate positions are converted into actual workpiece coordinate positions in the workpiece coordinate system according to the preset pixel-workpiece coordinate conversion relationship, the deviation amount is determined according to the preset workpiece coordinate positions and the actual workpiece coordinate positions, the workpieces in the assembly component are corrected based on the deviation amount, so that deviation correction of the workpieces in each assembly component is realized, and the control accuracy of the assembly equipment is further improved.
Referring to fig. 5, fig. 5 is a flowchart illustrating a third embodiment of the assembly control method according to the present invention, after the step of generating the standard sub-job control data based on the standard sub-job path in step a10, the method further includes:
and step C10, acquiring historical coordinate positions of each historical pixel point in the pixel coordinate system in the historical operation dot matrix image by adopting a visual camera.
In this embodiment, the standard sub-job control data generated in step a10 is job control data generated by presetting a job path of a predicted assembly component for a certain use time period by a manufacturer, but in an actual assembly process, the job path of the assembly component may not change according to a pre-predicted change rule, and may deviate or rotate to some extent.
Therefore, before the assembly components are controlled to be assembled, the same historical operation path of each assembly component is firstly obtained, after the historical operation path is converted into a historical operation path diagram, the historical operation path diagram is subjected to dot matrix filling and splicing to form a historical operation dot matrix image, a visual camera is adopted to obtain the historical coordinate positions of each historical pixel point in a pixel coordinate system in the historical operation dot matrix image, and the actual path change rule of the assembly equipment is determined through the historical coordinate positions.
Step C20, 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 C30, 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.
According to a preset pixel-workpiece coordinate conversion relation, converting the historical coordinate position into a historical workpiece coordinate position in a workpiece coordinate system, and then comparing and calculating the preset workpiece coordinate position and the historical workpiece coordinate position of each historical pixel point in the workpiece coordinate system to determine and 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 preset historical pixel point.
When no offset occurs, the offset correction amount is 0; when no rotation occurs, the rotation correction amount is 0.
Optionally, in step a201, the step of controlling the assembly component to perform assembly based on the standard sub-job control data and the offset of each assembly component includes:
step C40 of correcting the standard sub-job control data by the offset correction amount and the rotation correction amount;
and step C50, controlling the assembly equipment to assemble based on the corrected standard sub-operation control data and the offset of each assembly component.
Because the working path of the assembly component may not change according to a pre-predicted change rule in the actual assembly process, a certain deviation or rotation may occur, so that the corresponding assembly component is simply subjected to assembly control based on the standard sub-operation control data, and the control accuracy of the improved assembly equipment is limited, based on the situation, the embodiment proposes that the historical working path of the assembly equipment obtained by adopting the vision camera is compared with the pre-predicted working path to obtain the deviation correction amount and the rotation correction amount, so that the standard operation control data (consisting of the standard sub-operation control data corresponding to each assembly component) is corrected, and the assembly control of the assembly equipment is realized by the corrected standard sub-operation control data and the deviation of each assembly component, so that the deviation existing by the predicted standard sub-operation control data is eliminated, the assembly control accuracy of the assembly component is improved, and the assembly control efficiency is further improved.
In this embodiment, a vision camera is used to obtain the historical coordinate positions of each historical pixel point in the pixel coordinate system in the historical operation lattice image, the historical coordinate positions are converted into the historical workpiece coordinate positions in the workpiece coordinate system according to the preset pixel-workpiece coordinate conversion relation, the offset correction amount and the rotation correction amount are determined according to the preset workpiece coordinate positions and the historical workpiece coordinate positions of each historical pixel point in the workpiece coordinate system, and the standard sub-operation control data are corrected based on the offset correction amount and the rotation correction amount, so that deviation of the standard sub-operation control data passing through prediction is eliminated, the assembly control accuracy of the assembly component is improved, and the assembly control efficiency is further improved.
In addition, the embodiment of the invention also provides an assembling device, which comprises a memory, a processor and a computer processing program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the assembling control method when executing the computer processing program.
Furthermore, the present invention proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described assembly control method.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method of the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
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.
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