CN115464641A - Material taking and material taking position determination model establishing method and device and electronic equipment - Google Patents
Material taking and material taking position determination model establishing method and device and electronic equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The application provides a material taking and material taking position determining model creating method and device and electronic equipment, wherein the method comprises the following steps: inputting a workpiece image acquired at a theoretical workpiece position and a pile image acquired at a theoretical pile position into a trained material taking position determining model to acquire a deviation-correcting coordinate value of the theoretical workpiece position and a deviation-correcting coordinate value of the theoretical pile position; determining the actual grabbing position of the workpiece according to the deviation-correcting coordinate value of the theoretical workpiece position; and determining the workpiece aligning position according to the deviation-correcting coordinate value of the theoretical pile position and the actual grabbing position of the workpiece, so that the workpiece is taken out from the pile by the material taking equipment at the workpiece aligning position. The practical grabbing position and the aligning position of the workpiece are determined according to the workpiece image and the workpiece pile image when the workpiece is taken, so that the workpiece is just taken out from the specific position of the workpiece pile when the workpiece is taken, rubbing between the workpiece and the workpiece pile is prevented, and safety of the workpiece when the workpiece is taken is improved.
Description
Technical Field
The application relates to the field of workpiece taking, in particular to a method and a device for establishing a material taking and material taking position determining model and electronic equipment.
Background
At present, a plurality of workpieces are loaded and unloaded manually by a robot, fixed work piles are usually arranged on a trolley for placing the workpieces, and each work pile is used for placing the corresponding workpiece. In order to prevent the workpiece from moving on the pile, a catch is usually provided on the pile to secure the workpiece to the pile. However, when the robot takes the workpiece off the trolley, the workpiece and the buckle are often scratched, so that the workpiece is damaged.
Disclosure of Invention
In view of this, an object of the embodiments of the present application is to provide a method and an apparatus for creating a material taking and material taking position determination model, and an electronic device. The scratch between the workpiece and the buckle can be avoided, and the workpiece is prevented from being damaged.
In a first aspect, an embodiment of the present application provides a material taking method, including: inputting a workpiece image acquired at a theoretical workpiece position and a pile image acquired at a theoretical pile position into a trained material taking position determining model to acquire a deviation-correcting coordinate value of the theoretical workpiece position and a deviation-correcting coordinate value of the theoretical pile position; determining the actual grabbing position of the workpiece according to the deviation-correcting coordinate value of the theoretical workpiece position; determining a workpiece aligning position according to the deviation-correcting coordinate value of the theoretical pile position and the actual grabbing position of the workpiece, so that the workpiece is taken out of the pile by the material taking equipment at the workpiece aligning position; the material taking position determining model comprises a workpiece image sub-model and a work pile image sub-model; the workpiece image sub-model is used for determining a deviation-correcting coordinate value of the material taking equipment at the theoretical workpiece position; and the work pile image sub-model is used for determining the deviation-correcting coordinate value of the material taking equipment at the theoretical work pile position.
In the implementation process, the workpiece image acquired at the theoretical workpiece position and the pile image acquired at the theoretical pile position are input into the trained material taking position determination model, so that the deviation-correcting coordinate value of the theoretical workpiece position and the deviation-correcting coordinate value of the theoretical pile position are obtained. And compensating the theoretical pile position of the workpiece by the deviation-correcting coordinate value of the theoretical workpiece position to determine the actual grabbing position of the workpiece, compensating the actual grabbing position of the workpiece according to the deviation-correcting coordinate value of the theoretical pile position to determine the aligning position of the workpiece, wherein the aligning position is a position where the workpiece is taken out from the pile and is not cut and rubbed, and the workpiece is taken out at the aligning position, so that the workpiece is prevented from being cut and rubbed during material taking, and the workpiece is prevented from being damaged.
In one embodiment, in the material taking method, the material taking equipment comprises a photographing posture and a material taking posture, and the material taking equipment is switched from the photographing posture to the material taking posture at the theoretical pile position; the step of determining the actual grabbing position of the workpiece according to the deviation-correcting coordinate value of the theoretical workpiece position comprises the following steps: determining the actual grabbing position of the workpiece according to the deviation-correcting coordinate value and the posture switching difference value of the workpiece position; the gesture switching difference value is a coordinate difference value of the material taking equipment switched from a photographing gesture to a material taking gesture.
In the above-mentioned realization process, because get the material equipment when having the gesture of shooing to get the material gesture, the conversion between the gesture can lead to getting the position of material time equipment and change. When the material taking equipment is used for grabbing a workpiece, the gesture is required to be switched to a material taking gesture according to the photographing gesture, when the actual grabbing position of the workpiece is calculated, the error generated when the material taking equipment is used for gesture conversion can be made up by increasing the compensation of the gesture switching difference, the actual grabbing position of the workpiece is attached to the actual situation, and the accuracy of determining the actual grabbing position of the workpiece is improved.
In one embodiment, the formula for determining the workpiece return position is: f = E + Δ a- Δ B; and F is the workpiece aligning position, E is the actual grabbing position of the workpiece, delta A is the deviation-correcting coordinate value of the theoretical workpiece position, and delta B is the deviation-correcting coordinate value of the theoretical pile position.
In the implementation process, the photographing position and the pile position of the workpiece are respectively compensated through the deviation-correcting coordinate value of the theoretical workpiece position and the deviation-correcting coordinate value of the theoretical pile position, so that the position errors of the photographing position and the pile position of the workpiece are eliminated, the workpiece aligning position obtained on the basis of the actual grabbing position of the workpiece is more accurate, and the accuracy of the workpiece aligning position is improved.
In a second aspect, an embodiment of the present application further provides a material taking position determining model creating method, including: controlling a material taking device to obtain a workpiece image at a reference position at a first preset position so as to establish a workpiece image sub-model through the workpiece image at the reference position; controlling the material taking equipment to obtain a work pile image at a second preset position so as to establish a work pile image sub-model through the work pile image at the second preset position; and the second preset position is obtained by offsetting the material taking equipment from the first preset position by a preset distance.
In the implementation process, the workpiece image at the reference position is acquired at the first preset position, the standard placement image of the workpiece can be acquired, the pile image at the second preset position can be acquired, and then the workpiece image sub-model and the pile image sub-model are respectively established through the standard placement image of the workpiece and the standard placement image of the pile, so that the automatic modeling of the workpiece image and the pile image is realized, and the working intensity of modeling is reduced.
In one embodiment, in the material taking position determination model creation, the material taking device includes a photographing posture and a material taking posture, and the material taking position determination model creation method further includes: controlling the material taking equipment to be switched from a photographing posture to a material taking posture at a target position so as to obtain a current coordinate value of the material taking equipment; and determining a posture switching difference value according to the current coordinate value and the target position.
In the implementation process, the taking device is converted into the taking gesture from the photographing gesture at the same position, and the gesture conversion value of the taking device is determined at different positions of the taking device under the two gestures. Because the material taking equipment only executes the posture conversion action at the position, the position change between the target position and the current coordinate value is caused by posture conversion, and the calculation accuracy of the posture conversion value is realized.
In one embodiment, the determining a posture switching difference value according to the current coordinate value and the target position includes: and determining the attitude switching difference value by subtracting the target position from the current coordinate value, wherein the attitude switching difference value at least comprises the coordinate difference values of three degrees of freedom.
In the implementation process, the attitude switching difference value is determined by subtracting the target position from the current coordinate value, so that the calculation of the attitude switching difference value is realized, and the accuracy of the calculation of the attitude conversion value is realized because the position change between the target position and the current coordinate value is caused by the attitude conversion.
In one embodiment, before the controlling the material taking device to obtain the workpiece image at the reference position at the first preset position, so as to establish the workpiece image sub-model by using the workpiece image at the reference position, the method for establishing the material taking position determination model further includes: and establishing a data relation between the camera coordinate and the coordinate of the material taking equipment clamping device by a nine-point calibration method.
In the implementation process, the coordinates of the clamping device and the coordinates of the image acquisition device are linked through a nine-point calibration method, so that the coordinates of the clamping device and the coordinates of the image acquisition device can be converted, the material taking equipment is controlled to move through the actual position of a workpiece, the information of the image acquisition device and the information sharing between the clamping device are guaranteed, and the automatic model creation of the material taking equipment is realized.
In a third aspect, an embodiment of the present application further provides a material taking device, including: the first acquisition module is used for inputting a workpiece image acquired at a theoretical workpiece position and a pile image acquired at the theoretical pile position into a trained material taking position determination model to acquire a deviation-correcting coordinate value of the theoretical workpiece position and a deviation-correcting coordinate value of the theoretical pile position; the first determining module is used for determining the actual grabbing position of the workpiece according to the deviation-correcting coordinate value of the theoretical workpiece position; the second determining module is used for determining a workpiece returning position according to the deviation correcting value of the theoretical pile position and the actual grabbing position of the workpiece, so that the workpiece is taken out of the pile by the material taking equipment at the workpiece returning position; the material taking position determining model comprises a workpiece image sub-model and a work pile image sub-model; the workpiece image sub-model is used for determining a deviation-correcting coordinate value of the material taking equipment at the theoretical workpiece position; and the work pile image sub-model is used for determining the deviation-correcting coordinate value of the material taking equipment at the theoretical work pile position.
In a fourth aspect, an embodiment of the present application further provides a material taking position determining model creating device, including: the second acquisition module is used for controlling the material taking equipment to acquire the workpiece image at the reference position at the first preset position so as to establish a workpiece image sub-model through the workpiece image at the reference position; the third acquisition module is used for controlling the material taking equipment to acquire a pile image at a second preset position so as to establish a pile image sub-model through the pile image at the second preset position; and the second preset position is obtained by offsetting the material taking equipment from the first preset position by a preset distance.
In a fifth aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory storing machine-readable instructions executable by the processor, the machine-readable instructions when executed by the processor performing the steps of the method of the first aspect described above, or any one of the possible implementations of the first aspect, the second aspect, or any one of the possible implementations of the second aspect when the electronic device is run.
In a sixth aspect, the present application further provides a computer-readable storage medium, where a computer program is stored, and the computer program is executed by a processor to perform the steps of the method in the first aspect, or any one of the possible implementation manners of the first aspect, the second aspect, or any one of the possible implementation manners of the second aspect.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic diagram illustrating interaction between a controller and a local terminal according to an embodiment of the present application;
fig. 2 is a block diagram illustrating a controller according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a material taking method provided in an embodiment of the present application;
fig. 4 is a flowchart of a material taking position determining model creating method according to an embodiment of the present disclosure;
fig. 5 is a schematic view of a functional module of a material taking device according to an embodiment of the present disclosure;
fig. 6 is a schematic functional module diagram of a material taking position determination model creation device according to an embodiment of the present disclosure.
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.
With the rapid development of industrial technology, artificial intelligence and other aspects, in automatic production, the robot loading and unloading gradually replaces manual loading. On one hand, the robot can reduce manual configuration for loading and unloading, and labor cost is saved; on the other hand, the robot loading and unloading are assembled based on automatic devices such as a mechanical arm and a robot, so that the assembly time is prolonged, and the assembly efficiency is improved. Although the robot can be used in various industries and various workshops in a large quantity, the scraping and rubbing events of the workpieces generated in the robot loading and unloading process are not small, the attractiveness of the workpieces is affected in a light case, and the quality of the workpieces is seriously affected in a heavy case.
In view of the above, the inventor of the present application proposes a material taking method, which obtains a deviation-correcting coordinate value of a theoretical workpiece position and a deviation-correcting coordinate value of a theoretical pile position by inputting a workpiece image obtained at the theoretical workpiece position and a pile image obtained at the theoretical pile position into a trained material taking position determination model. And then determining a workpiece returning position according to the deviation correction value of the theoretical workpiece pile position and the actual grabbing position of the workpiece, so that the workpiece is taken out of the workpiece pile by the material taking equipment at the workpiece returning position where the workpiece is prevented from being scratched, the workpiece and the workpiece pile are prevented from being scratched, and the safety of the workpiece during material taking is improved.
To facilitate understanding of the present embodiment, a detailed description is first given of an operating environment for executing the material taking and material taking position determination model creation method disclosed in the embodiment of the present application.
Fig. 1 is a schematic diagram illustrating interaction between a controller and a local terminal according to an embodiment of the present disclosure. The controller 100 is communicatively coupled to one or more local terminals over a network for data communication or interaction. The controller 100 may be a network controller, a database controller, or the like. The local terminal may be a material taking device 200, and the material taking device 200 may include an image capturing apparatus 201, a gripping apparatus 202, and the like. The controller 100 is connected to the image capturing apparatus 201 and the grasping apparatus 202 in a communication manner via a network.
The image capturing device 201 may be one or more of a camera, a video camera, a laser capturing device, and the like. The image capturing device 201 is used to capture image information of a target workpiece, a mounting device, and other devices.
The gripping device 202 described above may be an industrial automation device for target workpiece gripping. For example, the grasping apparatus 202 may be a robot arm, a manipulator, a robot, or the like. The gripper 202 is used to mount the target workpiece at the target location.
In some embodiments, the image capturing device 201 may be disposed on the clamping device 202, and the material taking device 200 includes a material taking posture and a photographing posture.
It can be understood that a workpiece is placed on a pile of a transport trolley, when the material taking device 200 needs to take the workpiece out of the pile, the material taking device 200 moves to a theoretical pile position according to the position information after acquiring the position information sent by the controller 100, and acquires a pile image through the image acquisition device 201 so as to send the pile image to the controller 100, and the controller 100 determines a deviation-correcting coordinate value of the theoretical pile position according to the pile image. Meanwhile, after acquiring the pile image, the image acquisition device 201 moves to the workpiece image acquired at the theoretical workpiece position, and sends the workpiece image to the controller 100, and the controller 100 determines the actual gripping position of the workpiece according to the pile image. The controller 100 determines a workpiece aligning position according to the deviation-correcting coordinate value of the theoretical pile position and the actual grabbing position of the workpiece, so that the material taking equipment takes the workpiece out of the pile at the workpiece aligning position.
The Controller 100 may be a PLC (Programmable Logic Controller, chinese name: programmable Logic Controller), an upper computer, a single chip microcomputer, or the like.
Optionally, the controller 100 and the material taking device 200 may be the same device, or may be two different devices, and the controller 100 and the material taking device 200 may be set according to actual situations without specific limitations in this application.
For the sake of understanding of the present embodiment, a controller for executing the workpiece mounting origin position determining method and the workpiece mounting method disclosed in the embodiments of the present application will be described in detail below.
As shown in fig. 2, is a block schematic diagram of the controller. The controller 100 may include a memory 111, a memory controller 112, a processor 113, and a peripheral interface 114. It will be understood by those of ordinary skill in the art that the configuration shown in fig. 2 is merely exemplary and is not intended to limit the configuration of the controller 100. For example, the controller 100 may also include more or fewer components than shown in FIG. 2, or have a different configuration than shown in FIG. 2.
The aforementioned components of the memory 111, the memory controller 112, the processor 113 and the peripheral interface 114 are electrically connected to each other directly or indirectly, so as to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 113 is used to execute the executable modules stored in the memory.
The Memory 111 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 111 is configured to store a program, and the processor 113 executes the program after receiving an execution instruction, and the method executed by the controller 100 according to the process definition disclosed in any embodiment of the present application may be applied to the processor 113, or implemented by the processor 113.
The processor 113 may be an integrated circuit chip having signal processing capability. The Processor 113 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The peripheral interface 114 couples various input/output devices to the processor 113 and memory 111. In some embodiments, the peripheral interface 114, the processor 113, and the memory controller 112 may be implemented in a single chip. In other examples, they may be implemented separately from each other.
In order to facilitate understanding of the present embodiment, a detailed description is first given to the implementation process of the material taking method through several embodiments.
Fig. 3 is a flowchart of a material taking method according to an embodiment of the present disclosure. The specific process shown in fig. 1 will be described in detail below.
Step S201, inputting a workpiece image acquired at a theoretical workpiece position and a pile image acquired at the theoretical pile position into a trained material taking position determining model, and acquiring a deviation-correcting coordinate value of the theoretical workpiece position and a deviation-correcting coordinate value of the theoretical pile position.
The material taking position determining model comprises a workpiece image sub-model and a work pile image sub-model; the workpiece image sub-model is used for determining a deviation-correcting coordinate value of the material taking equipment at the theoretical workpiece position; the work pile image sub-model is used for determining a deviation-correcting coordinate value of the material taking equipment at the theoretical work pile position.
The workpiece here is a workpiece to be removed from the pile. Such as iron cores, magnetic steel, etc.
The theoretical workpiece position is a theoretical workpiece placing position sent to the material taking equipment by the controller, and the theoretical pile position is a position of the material taking equipment after the workpiece height is moved downwards at the theoretical workpiece placing position.
The deviation-correcting coordinate value of the theoretical workpiece position is the offset between the current position of the workpiece and the theoretical workpiece position. The deviation-correcting coordinate value of the theoretical pile position is the offset between the current position of the current pile and the theoretical pile position.
In actual workpiece installation, after a workpiece is placed on a workpiece pile, the position of the workpiece may shift during placement or during movement of the trolley, and therefore, a certain shift amount exists between the theoretical workpiece position and the actual workpiece position of the workpiece.
In some embodiments, before step S201, the method further comprises: and sending the theoretical workpiece position to a material taking device so that the material taking device can move to the theoretical workpiece position.
The material taking equipment can acquire a workpiece image after moving to the theoretical workpiece position, and sends the workpiece image to the controller. After acquiring the workpiece image, the controller controls the material taking equipment to downwards deviate from the theoretical workpiece position by a preset distance (namely, to move to the theoretical pile position), and acquires the pile image at the theoretical pile position.
The preset distance may be the height of the workpiece or the set distance. Such as the predetermined distance may be 10cm, 20cm, 50cm, etc. The preset distance may be a height direction or a displacement direction. The preset distance can be determined according to the characteristics of the image acquisition device, the workpiece, the clamping device and the like, and the method is not particularly limited.
And S202, determining the actual grabbing position of the workpiece according to the deviation-correcting coordinate value of the theoretical workpiece position.
It is understood that the theoretical workpiece pile position is the theoretical gripping position of the workpiece. Since the workpiece may shift in actual conditions, there is a certain deviation between the actual gripping position and the theoretical gripping position of the workpiece. The deviation can be compensated at the theoretical grabbing position of the workpiece through the deviation position of the theoretical workpiece position, so as to obtain the actual grabbing position of the workpiece.
In some embodiments, the actual grabbing position of the workpiece may be obtained by subtracting the deviation coordinate value of the theoretical workpiece position from the theoretical workpiece position.
Exemplarily, if the theoretical pile position is (a) 1 ，b 1 ，c 1 ，w 1 ，p 1 ，r 1 ) If the deviation-correcting coordinate value of the theoretical workpiece position is (Δ a, Δ b, Δ c, Δ w, Δ p, Δ r), the actual gripping position of the workpiece is (a) 1 -Δa，b 1 -Δb，c 1 -Δc，w 1 -Δw，p 1 -Δp，r 1 -Δr)。
And S203, determining a workpiece returning position according to the deviation correction value of the theoretical pile position and the actual grabbing position of the workpiece, so that the workpiece is taken out of the pile by the material taking equipment at the workpiece returning position.
The return position is a position where the workpiece cannot be scratched with the buckle when being taken out from the pile. The workpiece and the buckle are not clamped with each other at the position, and the workpiece can be directly taken out from the pile without being scratched. The righting position can be a central position of the pile or a set special position, and the position can be set according to actual conditions, and the application is not particularly limited.
It can be understood that, since the workpiece is shifted on the workpiece pile, the actual gripping position of the workpiece is determined based on the shift of the workpiece, and therefore, when the workpiece is returned, the correction coordinate value of the theoretical workpiece position of the workpiece needs to be increased based on the actual gripping position of the workpiece. Meanwhile, the position of the theoretical pile is also deviated, so that the deviation-correcting coordinate value of the position of the theoretical pile needs to be compensated on the basis of the actual grabbing position of the workpiece.
Specifically, the workpiece return position determination formula is:
F＝E+ΔA-ΔB；
and F is the workpiece aligning position, E is the actual grabbing position of the workpiece, delta A is the deviation-correcting coordinate value of the theoretical workpiece position, and delta B is the deviation-correcting coordinate value of the theoretical pile position.
In some embodiments, in the material taking method, the material taking equipment comprises a photographing posture and a material taking posture, and the material taking equipment is switched from the photographing posture to the material taking posture at the theoretical pile position.
Optionally, in the embodiment of the present application, coordinates such as the deviation-correcting coordinate value of the actual grabbing position, the deviation-correcting coordinate value of the theoretical workpiece position, and the deviation-correcting coordinate value of the theoretical pile position may be coordinates with six degrees of freedom or coordinates with three degrees of freedom. For example, the coordinates in the present application may be (x, y, z, w, p, r) six-degree-of-freedom coordinates, or (x, y, r) three-degree-of-freedom coordinates.
In the implementation process, the workpiece image acquired at the theoretical workpiece position and the pile image acquired at the theoretical pile position are input into the trained material taking position determination model, so that the deviation-correcting coordinate value of the theoretical workpiece position and the deviation-correcting coordinate value of the theoretical pile position are obtained. And compensating the theoretical pile position of the workpiece through the deviation-correcting coordinate value of the theoretical workpiece position to determine the actual grabbing position of the workpiece, compensating the actual grabbing position of the workpiece according to the deviation-correcting coordinate value of the theoretical pile position to determine the return position of the workpiece, wherein the return position is a position where the workpiece is taken out from the pile and is not scratched, and the workpiece is taken out at the return position, so that the workpiece is prevented from being scratched when the workpiece is taken out, and the workpiece is prevented from being damaged.
In one possible implementation manner, step S202 includes: and determining the actual gripping position of the workpiece according to the deviation-correcting coordinate value and the posture switching difference value of the theoretical workpiece position.
The gesture switching difference value is a coordinate difference value of the material taking device switched from the photographing gesture to the material taking gesture.
Get material equipment from the gesture of shooing when getting the material gesture for, the position of this material equipment changes, gets material equipment promptly and can produce the gesture and switch the difference when getting the material gesture from the gesture of shooing when changing. The attitude switching difference value may be set in advance to be stored in the controller or the material taking device, or may be obtained by the material taking position determination model. The acquisition of the posture switching difference value can be set according to actual conditions, and the method is not particularly limited.
Specifically, the actual gripping position determination formula of the workpiece is as follows:
E＝(B+D)+ΔA；
wherein E is the actual grabbing position of the workpiece, B is the theoretical pile position, D is the attitude switching difference value, and Delta A is the deviation-correcting coordinate value of the theoretical workpiece position.
In the above-mentioned realization process, because get the material equipment when having the gesture of shooing to get the material gesture, the conversion between the gesture can lead to getting the position of material time equipment and change. This get material equipment when carrying out the work piece and snatching, there is the gesture of shooing to switch into getting the material gesture with the gesture, when calculating the actual position of snatching of work piece, through the compensation that increases gesture switching difference, can compensate and get the error that material equipment produced when carrying out the gesture conversion, guaranteed the actual position laminating actual conditions of snatching of work piece, improved the accuracy that the actual position of snatching of work piece confirmed.
Please refer to fig. 4, which is a flowchart illustrating a method for creating a material fetching position determining model according to an embodiment of the present application. The specific flow shown in fig. 4 will be described in detail below.
Step S301, controlling the material taking equipment to obtain a workpiece image at a reference position at a first preset position, so as to establish a workpiece image sub-model through the workpiece image at the reference position.
The first preset position is a set workpiece placing position, the first preset position may be a position point which is set in advance and stored in a controller or material taking equipment, or acquired in real time, the acquisition of the first preset position may be set according to an actual situation, and the present application is not limited specifically.
The reference position is a position where the workpiece is taken out from the pile and is not scratched by the buckle. The reference position may be a central position of the pile or a set special position, and the position may be set according to an actual situation, which is not specifically limited in the present application.
It is to be understood that the first predetermined position may be understood as a position where the workpiece is placed as a whole, and the reference position may be understood as a position where the workpiece is placed on the pile at a predetermined position of the pile. This first preset position is the overall position of work piece, and this extracting equipment acquires the work piece image of this work piece in this first preset position department. The reference position is a specific position point on the work pile, and is used for limiting the placement position of the workpiece.
Because the equipment acquires the image of the standard position where the workpiece is placed at the standard position when the material is taken, the workpiece image at the reference position is the standard image set by the workpiece.
Alternatively, the workpiece image sub-model may be a workpiece image at the reference position, or coordinates of each feature point in the workpiece image at the reference position, or the like.
Step S302, the material taking equipment is controlled to obtain a work pile image at a second preset position, and a work pile image sub-model is established through the work pile image at the second preset position.
And the second preset position is obtained by offsetting the material taking equipment from the first preset position by a preset distance.
The preset distance may be the height of the workpiece or the set height. Such as the predetermined distance may be 10cm, 20cm, 50cm, etc. The preset distance can be determined according to the characteristics of the image acquisition device, the workpiece, the clamping device and the like, and the method is not particularly limited.
The second preset position may be a standard position of the pile, and the second preset position is used for acquiring an image of the pile in a standard state.
In some embodiments, the material taking device comprises a photographing gesture and a material taking gesture.
In the implementation process, the workpiece image at the reference position is acquired at the first preset position, so that a standard placing image of the workpiece can be acquired, the pile image at the second preset position can be acquired, and then the workpiece image sub-model and the pile image sub-model are respectively established through the standard placing image of the workpiece and the standard placing image of the pile, so that the automatic modeling of the workpiece image and the pile image is realized, and the working intensity of modeling is reduced.
In a possible implementation manner, the method for creating a material taking position determination model further includes: controlling the material taking equipment to be switched from a photographing posture to a material taking posture at the target position so as to obtain a current coordinate value of the material taking equipment; and determining a posture switching difference value according to the current coordinate value and the target position.
The target position may be a first preset position, a second preset position, or any other position. The target position may be set according to actual conditions, and the present application is not particularly limited.
Should get material equipment and be in the gesture of shooing at the target position department, after should getting material equipment and seize to get the material gesture by the gesture of shooing, this position can move current coordinate value. This current coordinate value is the material equipment of getting actually and gets the material position.
The material taking equipment acquires a workpiece image at a target position, the workpiece image is acquired at the target position, the posture of the material taking equipment can be changed when the material taking equipment takes materials, the position of the material taking equipment can be changed at the moment, and in order to ensure the accuracy of the actual grabbing position of the workpiece, the position change of the material taking equipment during posture conversion needs to be compensated on the basis of the position of the workpiece acquired through the workpiece image when the actual grabbing position of the workpiece is carried out.
And between the target position and the current coordinate value, the material taking equipment only performs attitude conversion, and the attitude switching difference can be determined through the target position and the current coordinate value.
In the implementation process, the taking device is converted into the taking gesture from the photographing gesture at the same position, and the gesture conversion value of the taking device is determined at different positions of the taking device under the two gestures. Because the material taking equipment only executes the posture conversion action at the position, the position change between the target position and the current coordinate value is caused by posture conversion, and the accuracy of the calculation of the posture conversion value is realized.
In one possible implementation manner, determining the attitude switching difference according to the current coordinate value and the target position includes: and determining a posture switching difference value by subtracting the target position from the current coordinate value.
The attitude switching difference here includes at least a coordinate difference of three degrees of freedom.
Specifically, the formula for determining the attitude switching difference value is as follows:
D＝C-A；
wherein C is the current coordinate value, A is the target position, and D is the attitude switching difference.
In the implementation process, the attitude switching difference value is determined by subtracting the target position from the current coordinate value, so that the calculation of the attitude switching difference value is realized, and the accuracy of the calculation of the attitude switching value is realized because the position change between the target position and the current coordinate value is caused by attitude switching.
In a possible implementation manner, before step S301, the method for creating a material taking position determining model further includes: and establishing a data relation between the coordinates of the image acquisition device and the coordinates of the clamping device by a nine-point calibration method.
It can be understood that the calibration of the position of the clamping device and the position of the image acquisition device can adopt calibration methods such as four-point calibration, five-point calibration, nine-point calibration and the like. The calibration method is further described below by taking nine-point calibration as an example: the nine-point calibration is a general basis of machine vision, and the principle is that 9 positions of a matrix are moved in the acquisition range of an image acquisition device through conversion equipment, and coordinate values of the 9 positions are transmitted to the image acquisition device, so that 9 pixel coordinates corresponding to the 9 positions can be obtained. Therefore, the coordinate system transformation relation between the image acquisition device and the clamping device is directly established, and the essence is to solve the affine transformation matrix of the two sets of coordinate systems.
The following is a nine-point principle:
an affine transformation relation formula between the image acquisition device and the clamping device is set as follows:
wherein,
is a coordinate system of the gripping device,
is the coordinate system of the image acquisition device, R is the transformation matrix, and M is the parallel matrix. And substituting the coordinate system obtained by calibration into the radiation transformation relation formula to obtain:
wherein, (X' 0 ∩Y′ 0 )，(X′ 1 ∩Y′ 1 )，(X′ 2 ∩Y′ 2 ) As clamping device coordinates, (X) 0 ∩Y 0 )，(X 1 ∩Y 1 )，(X 2 ∩Y 2 ) For the image acquisition device coordinates, (a, b, c) and (a ', b ', c ') are unknown parameters.
Further, after determining (a, b, c) and (a ', b ', c '), R and M may be further determined according to a matrix calculation rule.
In the implementation process, the coordinates of the clamping device and the coordinates of the image acquisition device are linked through a nine-point calibration method, so that the coordinates of the clamping device and the coordinates of the image acquisition device can be converted, the material taking equipment is controlled to move through the actual position of a workpiece, the information of the image acquisition device and the information sharing between the clamping device are guaranteed, and the automatic model creation of the material taking equipment is realized.
Based on the same application concept, a material taking device corresponding to the material taking method is further provided in the embodiment of the present application, and as the principle of solving the problem of the device in the embodiment of the present application is similar to that of the embodiment of the material taking method, the implementation of the device in the embodiment of the present application can refer to the description in the embodiment of the method, and repeated parts are not described again.
Please refer to fig. 5, which is a schematic diagram of a functional module of a material taking apparatus according to an embodiment of the present disclosure. Each module in the material extracting apparatus in this embodiment is configured to perform each step in the above method embodiment. The material taking device comprises a first obtaining module 401, a first determining module 402 and a second determining module 403; wherein,
the first obtaining module 401 is configured to input the workpiece image obtained at the theoretical workpiece position and the pile image obtained at the theoretical pile position into the trained material taking position determining model, and obtain a deviation-correcting coordinate value of the theoretical workpiece position and a deviation-correcting coordinate value of the theoretical pile position.
The first determining module 402 is configured to determine an actual gripping position of the workpiece according to the deviation-correcting coordinate value of the theoretical workpiece position.
The second determining module 403 is configured to determine a workpiece returning position according to the deviation-correcting coordinate value of the theoretical pile position and the actual grabbing position of the workpiece, so that the material taking device takes the workpiece out of the pile at the workpiece returning position.
In a possible implementation, the first determining module 402 is further configured to: determining the actual gripping position of the workpiece according to the deviation-correcting coordinate value and the posture switching difference value of the workpiece position; the gesture switching difference value is a coordinate difference value of the material taking equipment switched from a photographing gesture to a material taking gesture.
Based on the same application concept, a material taking position determination model creation device corresponding to the material taking position determination model creation method is further provided in the embodiments of the present application, and as the principle of solving the problem of the device in the embodiments of the present application is similar to that in the embodiment of the material taking position determination model creation method, the implementation of the device in the embodiments of the present application can refer to the description in the embodiments of the method, and the repeated parts are not described again.
Fig. 6 is a schematic diagram of functional modules of a material taking position determining model creating apparatus according to an embodiment of the present disclosure. Each module in the material taking position determination model creation device in this embodiment is used to execute each step in the above method embodiment. The material taking position determining model creating device comprises a second obtaining module 501 and a third obtaining module 502; wherein,
the second obtaining module 501 is configured to control the material taking device to obtain a workpiece image at a reference position at a first preset position, so as to establish a workpiece image sub-model according to the workpiece image at the reference position.
The third obtaining module 502 is configured to control the material taking device to obtain a pile image at a second preset position, so as to establish a pile image sub-model through the pile image at the second preset position; and the second preset position is obtained by offsetting the material taking equipment from the first preset position by a preset distance.
In one possible embodiment, the material taking position determining model creating apparatus further includes a control module configured to: controlling the material taking equipment to be switched from a photographing posture to a material taking posture at a target position so as to acquire a current coordinate value of the material taking equipment; and determining a posture switching difference value according to the current coordinate value and the target position.
In a possible implementation manner, the control module is further configured to determine the attitude switching difference value by subtracting the target position from the current coordinate value, where the attitude switching difference value at least includes a coordinate difference value of three degrees of freedom.
In a possible implementation manner, the material taking position determining model establishing device further comprises a coordinate establishing module, and the coordinate establishing module is used for establishing a coordinate data relation between a camera coordinate and the material taking equipment clamping device through a nine-point calibration method.
In addition, an embodiment of the present application further provides 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 computer program performs the steps of the material taking method and/or the material taking position determination model creation method described in the above method embodiments.
The computer program product of the material taking method and/or the material taking position determination model creation method provided in the embodiment of the present application includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute steps of the material taking method and/or the material taking position determination model creation method described in the above method embodiment, which may be specifically referred to the above method embodiment and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, or portions thereof, which substantially or partly contribute to the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a controller, or a network device) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A material taking method is characterized by comprising the following steps:
inputting a workpiece image acquired at a theoretical workpiece position and a pile image acquired at a theoretical pile position into a trained material taking position determining model to acquire a deviation-correcting coordinate value of the theoretical workpiece position and a deviation-correcting coordinate value of the theoretical pile position;
determining the actual grabbing position of the workpiece according to the deviation-correcting coordinate value of the theoretical workpiece position;
determining a workpiece aligning position according to the deviation-correcting coordinate value of the theoretical pile position and the actual grabbing position of the workpiece, so that the workpiece is taken out of the pile by the material taking equipment at the workpiece aligning position;
the material taking position determining model comprises a workpiece image sub-model and a work pile image sub-model; the workpiece image sub-model is used for determining a deviation-correcting coordinate value of the material taking equipment at the theoretical workpiece position; and the work pile image sub-model is used for determining the deviation-correcting coordinate value of the material taking equipment at the theoretical work pile position.
2. The method as claimed in claim 1, wherein in the material taking method, the material taking equipment comprises a photographing posture and a material taking posture, and the material taking equipment is switched from the photographing posture to the material taking posture at the position of the theoretical pile; the step of determining the actual grabbing position of the workpiece according to the deviation-correcting coordinate value of the theoretical workpiece position comprises the following steps:
determining the actual gripping position of the workpiece according to the deviation-correcting coordinate value and the posture switching difference value of the workpiece position;
the gesture switching difference value is a coordinate difference value of the material taking equipment switched from a photographing gesture to a material taking gesture.
3. The method of claim 1, wherein the formula for determining the workpiece return position is:
F＝E+ΔA-ΔB；
and F is the workpiece aligning position, E is the actual grabbing position of the workpiece, delta A is the deviation-correcting coordinate value of the theoretical workpiece position, and delta B is the deviation-correcting coordinate value of the theoretical pile position.
4. A material taking position determining model creating method is characterized by comprising the following steps:
controlling material taking equipment to obtain a workpiece image at a reference position at a first preset position so as to establish a workpiece image sub-model through the workpiece image at the reference position;
controlling the material taking equipment to obtain a work pile image at a second preset position so as to establish a work pile image sub-model through the work pile image at the second preset position;
and the second preset position is obtained by offsetting the material taking equipment from the first preset position by a preset distance.
5. The method according to claim 4, wherein in the material taking position determination model creation, the material taking device comprises a photographing posture and a material taking posture, and the material taking position determination model creation method further comprises:
controlling the material taking equipment to be switched from a photographing posture to a material taking posture at a target position so as to obtain a current coordinate value of the material taking equipment;
and determining a posture switching difference value according to the current coordinate value and the target position.
6. The method of claim 5, wherein determining a gesture switching difference value based on the current coordinate value and the target position comprises:
and subtracting the target position from the current coordinate value to determine the attitude switching difference, wherein the attitude switching difference at least comprises a coordinate difference of three degrees of freedom.
7. A material extracting apparatus, comprising:
the first acquisition module is used for inputting a workpiece image acquired at a theoretical workpiece position and a pile image acquired at the theoretical pile position into a trained material taking position determination model to acquire a deviation-correcting coordinate value of the theoretical workpiece position and a deviation-correcting coordinate value of the theoretical pile position;
the first determining module is used for determining the actual grabbing position of the workpiece according to the deviation-correcting coordinate value of the theoretical workpiece position;
the second determining module is used for determining a workpiece aligning position according to the deviation-correcting coordinate value of the theoretical pile position and the actual grabbing position of the workpiece, so that the workpiece is taken out of the pile by the material taking equipment at the workpiece aligning position;
the material taking position determining model comprises a workpiece image sub-model and a work pile image sub-model; the workpiece image sub-model is used for determining a deviation-correcting coordinate value of the material taking equipment at the theoretical workpiece position; and the work pile image sub-model is used for determining the deviation-correcting coordinate value of the material taking equipment at the theoretical work pile position.
8. A material taking position determination model creation device, characterized by comprising:
the second acquisition module is used for controlling the material taking equipment to acquire the workpiece image at the reference position at the first preset position so as to establish a workpiece image sub-model through the workpiece image at the reference position;
the third acquisition module is used for controlling the material taking equipment to acquire a pile image at a second preset position so as to establish a pile image sub-model through the pile image at the second preset position;
and the second preset position is obtained by offsetting the material taking equipment from the first preset position by a preset distance.
9. An electronic device, comprising: a processor, a memory storing machine-readable instructions executable by the processor, the machine-readable instructions when executed by the processor performing the steps of the method of any of claims 1 to 3 or claims 4 to 6 when the electronic device is run.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, performs the steps of the method as set forth in any one of the claims 1 to 3 or claims 4 to 6.
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