CN115194749B

CN115194749B - Control method of processing equipment, processing equipment and readable storage medium

Info

Publication number: CN115194749B
Application number: CN202110381486.8A
Authority: CN
Inventors: 刘俊凯; 陆迪森; 潘乐; 黄怡婷; 孙培
Original assignee: KUKA Robot Manufacturing Shanghai Co Ltd
Current assignee: KUKA Robot Manufacturing Shanghai Co Ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2025-03-14
Anticipated expiration: 2041-04-09
Also published as: CN115194749A

Abstract

The application provides a control method of processing equipment, the processing equipment and a readable storage medium. The control method of the machining equipment is used for the machining equipment, the machining equipment comprises a mechanical arm, the mechanical arm is used for machining a workpiece, the mechanical arm comprises a first initial coordinate system of the mechanical arm, a second initial coordinate system of a workpiece is determined, the precision of the first initial coordinate system and the second initial coordinate system is determined, the first initial coordinate system and the second initial coordinate system are adjusted according to the precision to obtain a first target coordinate system and a second target coordinate system, the mechanical arm is controlled to machine the workpiece under the first target coordinate system and the second target coordinate system, and the precision comprises rotation parameter precision and displacement parameter precision. The application improves the precision of the tool coordinate system and the workpiece coordinate system in the processing equipment, thereby improving the absolute track precision of the mechanical arm in the actual processing process of the workpiece.

Description

Control method of processing apparatus, and readable storage medium

Technical Field

The invention belongs to the technical field of electronic industrial control, and particularly relates to a control method of processing equipment, the processing equipment and a readable storage medium.

Background

Before machining a workpiece using an automated machining apparatus, a corresponding coordinate system needs to be calibrated. In the related art, an industrial camera is used for calibrating a coordinate system, but the precision of the coordinate system obtained by calibration is poor, so that the absolute track precision of automatic processing equipment in practical application is poor.

Disclosure of Invention

The present invention aims to solve one of the technical problems existing in the prior art or related technologies.

To this end, a first aspect of the invention proposes a method of controlling a processing apparatus.

A second aspect of the invention proposes a processing apparatus.

A third aspect of the present invention proposes a readable storage medium.

In view of the above, a control method of a processing apparatus is provided according to a first aspect of the present invention, for a processing apparatus, the processing apparatus including a robot arm for processing a workpiece, the robot arm including receiving a coordinate calibration instruction, acquiring a first initial coordinate system of the robot arm, and determining a second initial coordinate system of the workpiece, determining accuracy of the first initial coordinate system and the second initial coordinate system, adjusting the first initial coordinate system and the second initial coordinate system according to the accuracy to obtain a first target coordinate system and a second target coordinate system, and controlling the robot arm to process the workpiece under the first target coordinate system and the second target coordinate system, wherein the accuracy includes a rotation parameter accuracy and a displacement parameter accuracy.

The control method of the processing equipment is used for the processing equipment, the processing equipment comprises a mechanical arm, the mechanical arm is used for processing a workpiece, and the tool coordinate system of the mechanical arm and the workpiece coordinate system of the workpiece are required to be calibrated before the mechanical arm processes the workpiece. The specific calibration method is as follows:

After receiving the coordinate calibration instruction, the processing equipment calibrates an initial coordinate system of the tool coordinate and the workpiece coordinate, stores the calibrated coordinate system in a local storage area, and calls a first initial coordinate system of the mechanical arm and a second initial coordinate system of the workpiece. The first initial coordinate system is a coordinate system obtained by the four-point method calibration, and the second initial coordinate system is a coordinate system obtained by the three-point method calibration, so that the precision of the coordinate system is not high. Setting an evaluation index, evaluating the precision of the first initial coordinate system and the second initial coordinate system according to the evaluation index, and adjusting the first initial coordinate system and the second initial coordinate system according to the precision to obtain a corresponding first target coordinate system and a corresponding second target coordinate system. Because the first initial coordinate system and the second initial coordinate system are established based on the space coordinate system, namely the first initial coordinate system and the second initial coordinate system comprise the rotation parameter and the displacement parameter, the precision of the rotation parameter and the displacement parameter in the first initial coordinate system and the second initial coordinate system is respectively judged, the rotation parameter and the displacement parameter in the first initial coordinate system and the second initial coordinate system are respectively adjusted according to the precision of the rotation parameter and the precision of the displacement parameter, and the precision of the rotation parameter and the displacement parameter is respectively adjusted, so that the optimization efficiency of the rotation parameter and the displacement parameter can be improved. And detecting and judging the initial coordinate system obtained by calibration through precision, and optimizing and adjusting the workpiece coordinate system and the tool coordinate system according to the precision, so that a target coordinate system with high absolute precision can be obtained. And processing the workpiece through the first target coordinate system and the second target coordinate system, so that the absolute track precision of the mechanical arm in the actual processing process of the workpiece is improved.

When the accuracy of the first initial coordinate system and the second initial coordinate system is judged to reach the standard, the first initial coordinate system and the second initial coordinate system are not required to be adjusted, and the first initial coordinate system and the second initial coordinate system are directly used as the first target coordinate system and the second target coordinate system. When it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system does not reach the standard, the first initial coordinate system and the second initial coordinate system need to be adjusted according to the current accuracy. The specific adjustment mode is to adjust the coordinate parameters in the first initial coordinate system and/or adjust the coordinate parameters in the second initial coordinate system, so that the precision of the first coordinate system and the second coordinate system is improved, namely the precision of a tool coordinate system and a workpiece coordinate system in processing equipment is improved, and further the absolute track precision of the mechanical arm in the actual processing process of the workpiece is improved.

Optionally, searching the last coordinate parameter in a certain range through a global optimizing algorithm, then based on the found last parameter, obtaining the optimal parameter finally through a local optimizing algorithm, and directly determining the corresponding target coordinate system according to the optimal parameter. And optimizing according to the coordinate parameters in the first initial coordinate system to obtain a first target coordinate system, and optimizing according to the coordinate parameters in the second initial coordinate system to obtain a second target coordinate system.

The evaluation index comprises a distance maximum error, each section of track error peak value and each section of track error average value standard deviation. And weighting the evaluation index to obtain the fitness of the first initial coordinate and the second initial coordinate, thereby determining the precision of the first initial coordinate and the second initial coordinate.

It will be appreciated that the machining apparatus further comprises a machining station for securing the workpiece, thereby facilitating coordinate calibration and machining of the workpiece on the machining station by the robotic arm.

In addition, according to the control method of the processing equipment in the technical scheme provided by the invention, the control method also has the following additional technical characteristics:

In one possible design, the step of adjusting the first initial coordinate system and the second initial coordinate system according to the precision specifically comprises the steps of determining a target rotation parameter based on the rotation parameter precision of the first initial coordinate system and the second initial coordinate system being out of a first set precision range, determining a target displacement parameter based on the displacement parameter precision of the first initial coordinate system and the second initial coordinate system being out of a second set precision range, and determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter.

In the design, in the process of adjusting the first initial coordinate system and the second initial coordinate system, firstly, the rotation parameter precision of the first initial coordinate system and the second initial coordinate system is judged, and if the rotation parameter precision is out of the first set precision, the rotation parameters in the first initial coordinate system and the second initial coordinate system are adjusted so that the rotation parameters in the first initial coordinate system and the second initial coordinate system reach the rotation parameter precision. And judging the displacement parameter precision in the adjusted first initial coordinate and the adjusted second initial coordinate, and if the displacement parameter precision is out of the second precision, adjusting the displacement parameters in the first initial coordinate system and the second initial coordinate system so that the displacement parameters in the first initial coordinate system and the second initial coordinate system reach the displacement parameter precision. The first initial coordinate system and the second initial coordinate system are adjusted in the mode, the target rotation parameters and the target displacement parameters in the first initial coordinate system and the second initial coordinate system can be obtained, and the corresponding first target coordinate system and second target coordinate system are determined through the target rotation parameters and the target displacement parameters. The mechanical arm is controlled to process the workpiece under the first target coordinate system and the second target coordinate system, so that the accuracy of the movement track of the mechanical arm can be improved, and the processing effect on the workpiece is improved.

In one possible design, before the step of determining the first target coordinate system and the second target coordinate system based on the target rotation parameter and the target displacement parameter, the method further comprises determining a coordinate system adjustment range based on the first initial coordinate system and the second initial coordinate system.

In the design, before the first initial coordinate system and the second initial coordinate system are adjusted, the adjustment ranges of the first initial coordinate system and the second initial coordinate system need to be determined, the adjustment ranges comprise the adjustment ranges of the rotation parameters and the adjustment ranges of the displacement parameters, and the situation that the adjustment ranges of the rotation parameters and the displacement parameters are too large to cause that the adjusted first target coordinate system and second target coordinate system exceed a reasonable range is avoided.

It can be understood that in the process of global optimization of the rotation parameters and the displacement parameters of the first initial coordinate system and the second initial coordinate system, the rotation parameters and the displacement parameters obtained by the optimization need to be ensured to be within the rotation parameter adjustment range and the displacement parameter range, so that the adjustment range of the first initial coordinate system and the second initial coordinate system is ensured to be within the coordinate system adjustment range.

In one possible design, the step of determining the target rotation parameter specifically includes obtaining initial rotation parameters of a first initial coordinate system and a second initial coordinate system, converting the initial rotation parameters into corresponding quaternions, and determining the target rotation parameter in a coordinate system adjustment range through a genetic algorithm according to the quaternions.

In the design, in the process of optimizing the rotation parameters in the first initial coordinate system and the second initial coordinate system to obtain the target rotation parameters, the initial rotation parameters are required to be obtained, the obtained initial rotation parameters are rotation angles, and in order to ensure that rotation angles are continuous in the process of adjusting the initial rotation parameters, the initial rotation parameters are converted into quaternion to carry out subsequent optimization processing. And optimizing the quaternion through a genetic algorithm, so as to obtain the target rotation parameter. The coordinate system adjusting range comprises a rotating parameter adjusting range, and the target rotating parameter obtained by optimizing needs to be ensured to be in the rotating parameter adjusting range, so that the accuracy of the target rotating parameters of the first initial coordinate system and the second initial coordinate system can be effectively improved.

It can be understood that the target rotation parameters obtained after optimizing according to the quaternion are also in the quaternion form, the target rotation parameters in the quaternion form are converted into the target rotation parameters in the rotation angle form, and the target rotation parameters in the rotation angle form are replaced by the initial rotation parameters, so that the rotation parameter precision of the first initial coordinate system and the second initial coordinate system can be improved.

In one possible design, the step of determining the target displacement parameter specifically comprises the steps of obtaining initial displacement parameters of a first initial coordinate system and a second initial coordinate system, and determining the target displacement parameter in a coordinate system adjustment range through a genetic algorithm according to the initial displacement parameters.

In this design, the step of determining the target displacement parameter is performed after the step of determining the target rotation parameter, i.e., the rotation parameters in the first initial coordinate system and the second initial coordinate system are the optimized target rotation parameters. And acquiring initial displacement parameters of the first initial coordinate system and the second initial coordinate system, carrying the target rotation parameters into displacement parameter precision for judging the initial displacement parameters, and optimizing the initial displacement parameters through a genetic algorithm when the displacement parameter precision is not in a second precision range so as to obtain the target displacement parameters. The coordinate system adjusting range comprises a displacement parameter adjusting range, and the target displacement parameters obtained by optimizing are required to be ensured to be in the displacement parameter adjusting range, so that the accuracy of the target displacement parameters of the first initial coordinate system and the second initial coordinate system can be effectively improved.

In one possible design, the step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter specifically comprises the steps of establishing the first modified coordinate system and the second modified coordinate system according to the target rotation parameter and the target displacement parameter, and searching the first modified coordinate system and the second modified coordinate system in a coordinate system adjustment range through a simplex method based on the fact that the precision of the first modified coordinate system and the second modified coordinate system is out of a third set precision range so as to obtain the first target coordinate system and the second target coordinate system.

In the design, after the target rotation parameter and the target displacement parameter are obtained through the optimizing algorithm, a corresponding coordinate system can be obtained according to the target rotation parameter and the target displacement parameter. Specifically, the first corrected coordinate system can be correspondingly determined by the target rotation parameter and the target displacement parameter obtained according to the first initial coordinate system, and the second corrected coordinate system can be correspondingly determined by the target rotation parameter and the target displacement parameter obtained according to the second initial coordinate system, and the first corrected coordinate system and the second corrected coordinate system obtained at this time have higher precision relative to the first initial coordinate system and the second initial coordinate system. Detecting the precision of the first correction coordinate system and the second correction coordinate system, judging whether the precision of the first correction coordinate system and the second correction coordinate system is within a third set precision range, if so, taking the first correction coordinate system and the second correction coordinate system as a first target coordinate system and a second target coordinate system, if so, carrying out local optimization on the first correction coordinate system and the second correction coordinate system through a simplex method, and continuously carrying out precision detection on an optimizing result until the precision of the obtained optimizing result is within the third precision range, and taking the first coordinate system and the second coordinate system obtained through optimization as the first target coordinate system and the second target coordinate system. By performing iterative optimization on the first initial coordinate system and the second initial coordinate system for a plurality of times, the track error when the mechanical arm processes the workpiece can be continuously reduced. The machining precision of the mechanical arm can be improved by controlling the mechanical arm to machine the workpiece under the first target coordinate system and the second target coordinate system.

In one possible design, the step of determining a first initial coordinate system of the mechanical arm and a second initial coordinate system of the workpiece specifically includes the steps of obtaining a current tool coordinate system of the mechanical arm as the first initial coordinate system, obtaining a current tool coordinate system of the workpiece, determining a correction parameter value of the current workpiece coordinate system, and adjusting the current workpiece coordinate system according to the correction parameter value to obtain the second initial coordinate system.

In the design, the machining equipment responds to a coordinate calibration instruction, a tool coordinate system of the mechanical arm and a workpiece coordinate system of a workpiece are calibrated, and the calibrated tool coordinate system and workpiece coordinate system are stored in a local storage area. The current tool coordinate system is obtained in the local storage area as the first initial coordinate system, the current workpiece coordinate system and the correction parameter value of the current workpiece coordinate system are obtained, and the coordinate parameters in the current workpiece coordinate system are adjusted through the correction parameters, so that the absolute precision of the workpiece coordinate system is improved. By calibrating and optimizing the current workpiece coordinate system before optimizing the precision of the first initial coordinate system and the second initial coordinate system, the second initial coordinate system has higher precision before optimizing, and the coordinate parameters in the second initial coordinate system do not need to be greatly adjusted in the subsequent optimizing step.

By calibrating and optimizing the coordinate system of the processing equipment for a plurality of times, the absolute precision of the coordinate system of the processing equipment can be improved.

It will be appreciated that the second initial coordinate system obtained by correcting the current workpiece coordinate system has a better absolute accuracy, with an error of less than 0.5mm.

In one possible design, the step of determining the correction parameter value of the current workpiece coordinate system specifically comprises the steps of obtaining at least two test coordinate points on the workpiece, determining the coordinate origin of the workpiece according to the test coordinate points, obtaining the test distance from the coordinate origin to the test coordinate points, and determining the correction parameter value according to the test distance.

In the design, at least two test coordinate points are calibrated for the workpiece under the current workpiece coordinate system and the current tool coordinate system obtained through calibration. And acquiring all the test coordinate points marked on the workpiece, selecting a coordinate origin point on the workpiece according to the test coordinate points, and acquiring a test distance between the coordinate origin point and each test coordinate point. According to the obtained numerical relation among the plurality of test distances, the coordinate parameters required to be corrected of the current workpiece coordinate system and the correction parameter values of the coordinate parameters can be obtained, and the coordinate parameters required to be corrected are corrected through the correction parameter values, so that a second initial coordinate system is obtained. By adjusting each coordinate parameter in the current object coordinate system, the absolute accuracy of the second initial coordinate system can be improved.

It can be understood that the test coordinate points are marked on the positions of the workpiece to be processed, and the test coordinate points are marked manually by a user, so that the problem that the accuracy of the subsequent correction of the current workpiece coordinate system is affected due to overlarge marking errors of the test coordinate points caused by low accuracy of the coordinate system of processing equipment is avoided.

In one possible design, the number of test coordinate points is 8.

In the design, the workpiece is provided with four planes to be processed, and two test coordinate points are marked on each plane to be processed, so that each plane to be processed of the workpiece is guaranteed to be provided with the test coordinate point, and the absolute precision of the obtained second initial coordinate system is further improved.

According to a second aspect of the present invention, a processing apparatus is provided, which includes a mechanical arm for processing a workpiece, a sensor disposed on the mechanical arm for acquiring a parameter of movement of the mechanical arm relative to the workpiece, a memory having a program or an instruction stored thereon, and a processor executing the program or the instruction to implement a step of a control method of the processing apparatus in any one of the possible designs described above.

The processing equipment provided by the invention comprises a mechanical arm and a sensor. The mechanical arm is used for processing a workpiece, and the sensor arranged on the mechanical arm can acquire the moving parameters of the mechanical arm relative to the workpiece. The processing equipment further comprises a memory and a processor, when the processor executes a control method of the processing equipment stored in the memory, after receiving a coordinate calibration instruction, the processor calibrates an initial coordinate system of the tool coordinate and the workpiece coordinate, stores the calibrated coordinate system in a local storage area, and invokes a first initial coordinate system of the mechanical arm and a second initial coordinate system of the workpiece obtained by calibration. The first initial coordinate system and the second initial coordinate system are coordinate systems obtained through four-point calibration, so that the precision of the coordinate systems is not high. Setting an evaluation index, evaluating the precision of the first initial coordinate system and the second initial coordinate system according to the evaluation index, and adjusting the first initial coordinate system and the second initial coordinate system according to the precision to obtain a corresponding first target coordinate system and a corresponding second target coordinate system. Since the first initial coordinate system and the second initial coordinate system are established based on the space coordinate system, namely the first initial coordinate system and the second initial coordinate system comprise rotation parameters and displacement parameters, the precision of the rotation parameters and the displacement parameters in the first initial coordinate system and the second initial coordinate system is respectively judged, and the rotation parameters and the displacement parameters in the first initial coordinate system and the second initial coordinate system are adjusted according to the precision of the rotation parameters and the precision of the displacement parameters. And detecting and judging the initial coordinate system obtained by calibration through precision, and optimizing and adjusting the workpiece coordinate system and the tool coordinate system according to the precision, so that a target coordinate system with high absolute precision can be obtained. And processing the workpiece through the first target coordinate system and the second target coordinate system, so that the absolute track precision of the mechanical arm in the actual processing process of the workpiece is improved.

When the accuracy of the first initial coordinate system and the second initial coordinate system is judged to reach the standard, the first initial coordinate system and the second initial coordinate system are not required to be adjusted, and the first initial coordinate system and the second initial coordinate system are directly used as the first target coordinate system and the second target coordinate system. When it is determined that the accuracy of the first initial coordinate system and the second initial coordinate system does not reach the standard, the first initial coordinate system and the second initial coordinate system need to be adjusted according to the current accuracy. The specific adjustment form is to adjust the coordinate parameters in the first initial coordinate system and/or adjust the coordinate parameters in the second initial coordinate system, so as to improve the precision of the first coordinate system and the second coordinate system.

According to a third aspect of the present invention, a readable storage medium is presented, on which a program or instructions is stored which, when executed by a processor, implement the steps of a method of controlling a processing apparatus as in any of the possible designs described above. Therefore, the control method of the processing equipment in any one of the above possible designs has all the beneficial technical effects, and will not be described in detail herein.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

fig. 1 shows a flow chart of a control method of a processing apparatus in a first embodiment of the present invention;

fig. 2 shows one of flow charts of a control method of a processing apparatus in a second embodiment of the present invention;

FIG. 3 is a second flow chart of a control method of a processing apparatus according to a second embodiment of the present invention;

fig. 4 shows a third flow chart of a control method of the processing apparatus in the second embodiment of the present invention;

fig. 5 shows a fourth flow chart of a control method of a processing apparatus in a second embodiment of the present invention;

FIG. 6 shows an error profile of a coordinate system in a second embodiment of the invention;

fig. 7 shows a fifth flow chart of a control method of a processing apparatus in a second embodiment of the present invention;

Fig. 8 shows a sixth flow chart of a control method of the processing apparatus in the second embodiment of the present invention;

Fig. 9 shows one of flow charts of a control method of a processing apparatus in a third embodiment of the present invention;

FIG. 10 is a schematic view showing the structure of a work piece in a third embodiment of the present invention;

fig. 11 shows a second flow chart of a control method of a processing apparatus in a third embodiment of the present invention;

Fig. 12 is a third flow chart showing a control method of the processing apparatus in the third embodiment of the present invention;

fig. 13 shows a schematic block diagram of a processing apparatus in a fourth embodiment of the invention.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

A control method of a processing apparatus, and a readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 13.

Embodiment one:

As shown in fig. 1, a first embodiment of the present invention provides a control method of a processing apparatus including a robot arm for processing a workpiece.

The control method of the processing equipment specifically comprises the following steps:

102, receiving a coordinate calibration instruction;

104, acquiring a first initial coordinate system of the mechanical arm and a second initial coordinate system of the workpiece;

step 106, determining the precision of the first initial coordinate system and the second initial coordinate system;

step 108, adjusting the first initial coordinate system according to the precision to obtain a first target coordinate system;

Step 110, a second initial coordinate system is adjusted according to the precision to obtain a second target coordinate system;

At step 112, the robotic arm is controlled to process the workpiece in a first target coordinate system and a second target coordinate system.

The precision comprises rotation parameter precision and displacement parameter precision.

The control method of the processing device provided by the embodiment is used for the processing device, the processing device comprises a mechanical arm, the mechanical arm is used for processing a workpiece, and the tool coordinate system of the mechanical arm and the workpiece coordinate system of the workpiece are required to be calibrated before the mechanical arm processes the workpiece. The specific calibration method is as follows:

Embodiment two:

As shown in fig. 2, a second embodiment of the present invention provides a control method of a processing apparatus including a robot arm for processing a workpiece.

Step 202, receiving a coordinate calibration instruction;

step 204, acquiring a first initial coordinate system of the mechanical arm and a second initial coordinate system of the workpiece;

Step 206, acquiring the rotation parameter precision and the displacement parameter precision in the first initial coordinate system and the second initial coordinate system;

step 208, judging whether the precision of the rotation parameter is in the first setting precision range, if yes, executing step 212, and if not, executing step 210;

step 210, determining a target rotation parameter;

step 212, judging whether the displacement parameter precision is in a first setting precision range, if so, executing step 216, and if not, executing step 214;

step 214, determining a target displacement parameter;

step 216, determining a first target coordinate system and a second target coordinate system according to the target rotation parameter and the target displacement parameter;

At step 218, the robotic arm is controlled to process the workpiece in a first target coordinate system and a second target coordinate system.

In the process of adjusting the first initial coordinate system and the second initial coordinate system, firstly judging the rotation parameter precision of the first initial coordinate system and the second initial coordinate system, and if the rotation parameter precision is out of the first set precision, adjusting the rotation parameters in the first initial coordinate system and the second initial coordinate system so that the rotation parameters in the first initial coordinate system and the second initial coordinate system reach the rotation parameter precision. And judging the displacement parameter precision in the adjusted first initial coordinate and the adjusted second initial coordinate, and if the displacement parameter precision is out of the second precision, adjusting the displacement parameters in the first initial coordinate system and the second initial coordinate system so that the displacement parameters in the first initial coordinate system and the second initial coordinate system reach the displacement parameter precision. The first initial coordinate system and the second initial coordinate system are adjusted in the mode, the target rotation parameters and the target displacement parameters in the first initial coordinate system and the second initial coordinate system can be obtained, and the corresponding first target coordinate system and second target coordinate system are determined through the target rotation parameters and the target displacement parameters. The mechanical arm is controlled to process the workpiece under the first target coordinate system and the second target coordinate system, so that the accuracy of the movement track of the mechanical arm can be improved, and the processing effect on the workpiece is improved.

In the above embodiment, before the step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter, the method further includes determining a coordinate system adjustment range according to the first initial coordinate system and the second initial coordinate system.

As shown in fig. 3, in any of the above embodiments, the step of determining the target rotation parameter specifically includes:

Step 302, acquiring initial rotation parameters of a first initial coordinate system and a second initial coordinate system, and converting the initial rotation parameters into corresponding quaternions;

And step 304, determining the target rotation parameters in the coordinate system adjustment range through a genetic algorithm according to the quaternion.

In this embodiment, in the process of optimizing the rotation parameters in the first initial coordinate system and the second initial coordinate system to obtain the target rotation parameter, the initial rotation parameter needs to be obtained, the obtained initial rotation parameter is a rotation angle, and in order to ensure that the rotation angle is continuous in the process of adjusting the initial rotation parameter, the initial rotation parameter is converted into a quaternion to perform the subsequent optimization processing. And optimizing the quaternion through a genetic algorithm, so as to obtain the target rotation parameter. The coordinate system adjusting range comprises a rotating parameter adjusting range, and the target rotating parameter obtained by optimizing needs to be ensured to be in the rotating parameter adjusting range, so that the accuracy of the target rotating parameters of the first initial coordinate system and the second initial coordinate system can be effectively improved.

As shown in fig. 4, in any of the above embodiments, the step of determining the target displacement parameter specifically includes:

Step 402, obtaining initial displacement parameters of a first initial coordinate system and a second initial coordinate system;

step 404, determining the target displacement parameter in the coordinate system adjustment range through a genetic algorithm according to the initial displacement parameter.

In this embodiment, the step of determining the target displacement parameter is performed after the step of determining the target rotation parameter, i.e. when the rotation parameters in the first initial coordinate system and the second initial coordinate system are optimized target rotation parameters. And acquiring initial displacement parameters of the first initial coordinate system and the second initial coordinate system, carrying the target rotation parameters into displacement parameter precision for judging the initial displacement parameters, and optimizing the initial displacement parameters through a genetic algorithm when the displacement parameter precision is not in a second precision range so as to obtain the target displacement parameters. The coordinate system adjusting range comprises a displacement parameter adjusting range, and the target displacement parameters obtained by optimizing are required to be ensured to be in the displacement parameter adjusting range, so that the accuracy of the target displacement parameters of the first initial coordinate system and the second initial coordinate system can be effectively improved.

As shown in fig. 5, in any of the above embodiments, the step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter specifically includes:

step 502, a first correction coordinate system and a second correction coordinate system are established according to the target rotation parameter and the target displacement parameter;

Step 504, judging whether the accuracy of the first correction coordinate system and the second correction coordinate system is within a third setting accuracy range, if so, executing step 506, and if so, executing step 508;

step 506, searching the first target coordinate system and the second target coordinate system in the coordinate system adjustment range by the first modified coordinate system and the second modified coordinate system through a simplex method;

In step 508, the first modified coordinate system is used as the first target coordinate system, and the second modified coordinate system is used as the second target coordinate system.

As shown in fig. 6, the error change curve of the coordinate system is shown, and each time the first initial coordinate system and the second initial coordinate system are optimized, the movement track error of the mechanical arm can be reduced. Specifically, the error reading of the sensor decreases from 0.5mm to below 0.14 mm.

As shown in fig. 7, in any of the above embodiments, the step of acquiring the first initial coordinate system of the mechanical arm and the second initial coordinate system of the workpiece specifically includes:

step 702, acquiring a current tool coordinate system of a mechanical arm as a first initial coordinate system;

step 704, acquiring a current tool coordinate system of the workpiece, and determining correction parameter values of the current workpiece coordinate system;

Step 706, adjusting the current coordinate system of the workpiece according to the correction parameter value to obtain a second initial coordinate system.

In this embodiment, the processing apparatus calibrates the tool coordinate system of the robot arm and the workpiece coordinate system of the workpiece in response to the coordinate calibration instruction, and stores the calibrated tool coordinate system and workpiece coordinate system in the local storage area. The current tool coordinate system is obtained in the local storage area as the first initial coordinate system, the current workpiece coordinate system and the correction parameter value of the current workpiece coordinate system are obtained, and the coordinate parameters in the current workpiece coordinate system are adjusted through the correction parameters, so that the absolute precision of the workpiece coordinate system is improved. By calibrating and optimizing the current workpiece coordinate system before optimizing the precision of the first initial coordinate system and the second initial coordinate system, the second initial coordinate system has higher precision before optimizing, and the coordinate parameters in the second initial coordinate system do not need to be greatly adjusted in the subsequent optimizing step.

As shown in fig. 8, in any of the above embodiments, the step of determining the correction parameter value of the current workpiece coordinate system specifically includes:

Step 802, acquiring at least two test coordinate points on a workpiece, and determining a coordinate origin of the workpiece according to the test coordinate points;

step 804, obtaining the test distance from the origin of coordinates to the test coordinate point, and determining the correction parameter value according to the test distance.

In this embodiment, at least two test coordinate points are calibrated for the workpiece under the calibrated current workpiece coordinate system and current tool coordinate system. And acquiring all the test coordinate points marked on the workpiece, selecting a coordinate origin point on the workpiece according to the test coordinate points, and acquiring a test distance between the coordinate origin point and each test coordinate point. According to the obtained numerical relation among the plurality of test distances, the coordinate parameters required to be corrected of the current workpiece coordinate system and the correction parameter values of the coordinate parameters can be obtained, and the coordinate parameters required to be corrected are corrected through the correction parameter values, so that a second initial coordinate system is obtained. By adjusting each coordinate parameter in the current object coordinate system, the absolute accuracy of the second initial coordinate system can be improved.

In the above embodiment, the number of test coordinate points is 8.

Embodiment III:

As shown in fig. 9, a third embodiment of the present invention provides a control method of a processing apparatus including a robot arm for processing a workpiece.

Step 902, acquiring a current tool coordinate system and a current workpiece coordinate system;

Step 904, determining a first initial coordinate system and a second initial coordinate system according to the current tool coordinate system and the current workpiece coordinate system;

step 906, determining a first target coordinate system and a second target coordinate system according to the first initial coordinate system and the second initial coordinate system.

In step 902, the workpiece coordinate system and the tool coordinate system of the processing apparatus are calibrated, optionally by calibrating the tool coordinates by a four-point method, and by calibrating the workpiece coordinates by a three-point method.

Still include the sensor in the processing equipment, the sensor is selected as laser sensor, and laser sensor sets up to the position 30mm apart from the instrument central point of arm, can guarantee that laser sensor range finding precision is higher.

In step 904, the workpiece has four planes to be processed, and two test coordinate points are marked on each plane to be processed, so that each plane to be processed of the workpiece is guaranteed to be provided with a test coordinate point, and further the absolute precision of the obtained second initial coordinate system is improved.

As shown in fig. 10, in some embodiments, the workpiece includes a first machined surface, a second machined surface, a third machined surface, and a fourth machined surface, two test coordinate points C1, C2 are marked on the first machined surface, two test coordinate points C3, C4 are marked on the second machined surface, two test coordinate points C5, C6 are marked on the third machined surface, and two test mark points C7, C8 are marked on the fourth machined surface.

As shown in fig. 11, the link end position of C1 and C2 is set as the origin of coordinates. Distances from the origin of coordinates to C1, C2, C3, C4, C5, C6, C7, and C8 are obtained and denoted as L1, L2, L3, L4, L5, L6, L7, and L8, respectively.

Whether abs (L1-L2) <0.05mm and abs (L3-L4) <0.05mm are satisfied is judged. If the above conditions are met, then the size relationship between L1 and L2 and the size relationship between L3 and L4 are judged, and the rotation angles of the Y axis and the Z axis are adjusted according to the size relationship between L1 and L2 and the size relationship between L3 and L4, wherein the specific adjustment logic is as follows:

when L1< L2 and L3< L4, reversely adjusting the rotation angle of the Y axis;

when L1 is less than L2 and L3 is more than or equal to L4, reversely adjusting the rotation angle of the Z axis;

when L1 is more than or equal to L2 and L3 is less than L4, the rotation angle of the Y axis is positively adjusted;

When L1 is more than or equal to L2 and L3 is more than or equal to L4, the rotation angle of the Z axis is positively adjusted;

When the rotation angles of the Y axis and the Z axis are adjusted to be more than or equal to 0.05mm in terms of abs (L1-L2) and more than or equal to 0.05mm in terms of abs (L3-L4), the rotation angles of the Y axis and the Z axis are not continuously adjusted.

Continuing to judge whether abs (L5-L6) <0.05mm is satisfied, and abs (L7-L8) <0.05mm. If the above condition is not satisfied, then the size relationship between L5 and L6 and the size relationship between L7 and L8 are determined, and the rotation angle of the X axis is adjusted according to the size relationship between L5 and L6 and the size relationship between L7 and L8, wherein the specific adjustment logic is as follows:

when L5< L6 and L7< L8, the rotation angle of the X axis is positively adjusted;

when L5> L6 and L7> L8, reversely adjusting the rotation angle of the X axis;

if the above three conditions are not satisfied, there is no need to adjust the rotation angle of the X-axis.

The above condition was designated as condition 1 by continuing to determine whether abs [ (L1+L2)/2- (L3+L4)/2 ] <0.05mm was satisfied. It is determined whether (l1+l2)/2 < (l3+l4)/2 is satisfied, and the above condition is referred to as condition 2. It is determined whether (L1+L2)/2 > (L3+L4)/2 is satisfied, and the above condition is referred to as condition 3. The specific adjustment logic is as follows:

if the condition 1 is not satisfied, judging whether the condition 2 is satisfied, if the condition 2 is satisfied, positively adjusting the displacement of the Y axis, and returning to the step of judging whether the condition 1 is satisfied;

if the condition 1 is not satisfied, judging whether the condition 2 is satisfied, if the condition 2 is not satisfied, continuing judging whether the condition 3 is satisfied, if the condition 3 is satisfied, reversely adjusting the displacement of the Y axis, and returning to the step of judging whether the condition 1 is satisfied;

When the condition 1 is satisfied, or when the condition 1, the condition 2, and the condition 3 are not satisfied at the same time, the downward execution is continued.

The above condition was designated as condition 4 by continuing to determine whether abs [ (L5+L6)/2- (L7+L8)/2 ] <0.05mm was satisfied. It is determined whether (l5+l6)/2 < (l7+l8)/2 is satisfied, and the above condition is referred to as condition 5. It is determined whether (L5+L6)/2 > (L7+L8)/2 is satisfied, and the above condition is referred to as condition 6. The specific adjustment logic is as follows:

if the condition 4 is not satisfied, judging whether the condition 5 is satisfied, if the condition 5 is satisfied, positively adjusting the displacement of the X axis, and returning to the step of judging whether the condition 4 is satisfied;

If the condition 4 is not satisfied, judging whether the condition 5 is satisfied, if the condition 5 is not satisfied, continuing judging whether the condition 6 is satisfied, if the condition 6 is satisfied, reversely adjusting the displacement of the X axis, and returning to the step of judging whether the condition 4 is satisfied;

When the condition 1 is satisfied, or when the condition 1, the condition 2, and the condition 3 are not satisfied at the same time, it is not necessary to continuously adjust the coordinate parameter values in the current workpiece coordinate system.

After the above process is completed, the robotic system has now had a relatively good absolute accuracy, with an error of less than 0.5mm.

In step 906, after the above process is completed, the processing device has a relatively good absolute accuracy (error <0.5 mm), but the absolute track accuracy still has no high accuracy, and the high accuracy requirement cannot be met in practical application.

Based on the first initial coordinate system and the second initial coordinate system obtained in the process, further optimization is performed based on the track. The process is completed by using a multi-target optimization algorithm, and during optimization, a global optimization algorithm is firstly used for searching target rotation parameters and target displacement parameters within a certain range, then the first target coordinate system and the second target coordinate system are finally obtained by using a local optimization algorithm based on the target rotation parameters and the target displacement parameters obtained by global optimization.

As shown in fig. 12, the step of determining the first target coordinate system and the second target coordinate system specifically includes:

step 1202, determining rotation parameters in a first initial coordinate system and a second initial coordinate system;

step 1204, converting the rotation parameters into quaternions;

Step 1206, rotation parameter precision evaluation;

Step 1208, determining whether the rotation parameter is the optimal rotation parameter, if yes, executing step 1212, and if not, executing step 1210;

step 1210, optimizing the rotation parameters using a genetic algorithm to obtain target rotation parameters;

step 1212, evaluating displacement parameter accuracy;

Step 1214, determining whether the displacement parameter is the optimal displacement parameter, if yes, executing step 1218, and if not, executing step 1216;

step 1216, optimizing the displacement parameter using a genetic algorithm to obtain a target displacement parameter;

step 1218, determining a first modified coordinate system and a second modified coordinate system according to the target rotation parameter and the target displacement parameter;

step 1220, judging whether the first modified coordinate system and the second modified coordinate system are optimal coordinates, if yes, executing step 1224, and if not, executing step 1222;

step 1222, performing local optimization by using a simplex method to determine a first target coordinate system and a second target coordinate system;

in step 1224, the first modified coordinate system and the second modified coordinate system are used as the first target coordinate system and the second target coordinate system.

In this embodiment, a genetic algorithm is used as the global optimization algorithm, and a simplex method is used as the local optimization algorithm.

The evaluation indexes of judging whether the parameters are optimal parameters and optimal coordinates mainly comprise three values of distance maximum error, each track error peak-peak value and each track error average standard deviation, and the weighted sum of the three evaluation indexes is taken as the precision.

The optimization process mainly comprises three steps:

(1) The rotation parameters in the first initial coordinate system and the second initial coordinate system are optimized using a genetic algorithm to obtain target rotation parameters. In the process, in order to ensure the continuity of the rotation angle, the rotation angle under the Cartesian coordinate system is firstly converted into a quaternion and then optimized.

(2) And optimizing the displacement parameters in the first initial coordinate system and the second initial coordinate system by using a genetic algorithm based on the optimized rotation angle to obtain the target displacement parameters.

(3) And determining a first corrected coordinate system and a second corrected coordinate system according to the target displacement parameter and the target rotation parameter, and performing local optimization by using a simplex method to obtain the first target coordinate system and the second target coordinate system.

Embodiment four:

As shown in fig. 13, in a fourth embodiment of the present invention, a processing apparatus 1300 is provided, which includes a robot 1306 for processing a workpiece, a sensor 1308 provided to the robot 1306 for acquiring parameters of movement of the robot 1306 relative to the workpiece, a memory 1302, where the memory 1302 stores a program or instructions, and a processor 1304, where the processor 1304 executes the program or instructions to implement the steps of the control method of the processing apparatus 1300 in any of the embodiments described above.

The processing apparatus 1300 provided in this embodiment includes a robot arm 1306 and a sensor 1308. The robot 1306 is used to process a workpiece, and a sensor 1308 provided on the robot 1306 is capable of acquiring parameters of the movement of the robot 1306 relative to the workpiece. The processing apparatus 1300 further includes a memory 1302 and a processor 1304, where when the processor 1304 executes the control method of the processing apparatus 1300 stored on the memory 1302, after receiving the coordinate calibration command, the processor calibrates the initial coordinate system of the tool coordinates and the workpiece coordinates, stores the calibrated coordinate system in the local storage area, and retrieves the calibrated first initial coordinate system of the robot 1306 and the second initial coordinate system of the workpiece. The first initial coordinate system and the second initial coordinate system are coordinate systems obtained through four-point calibration, so that the precision of the coordinate systems is not high. Setting an evaluation index, evaluating the precision of the first initial coordinate system and the second initial coordinate system according to the evaluation index, and adjusting the first initial coordinate system and the second initial coordinate system according to the precision to obtain a corresponding first target coordinate system and a corresponding second target coordinate system. Since the first initial coordinate system and the second initial coordinate system are established based on the space coordinate system, namely the first initial coordinate system and the second initial coordinate system comprise rotation parameters and displacement parameters, the precision of the rotation parameters and the displacement parameters in the first initial coordinate system and the second initial coordinate system is respectively judged, and the rotation parameters and the displacement parameters in the first initial coordinate system and the second initial coordinate system are adjusted according to the precision of the rotation parameters and the precision of the displacement parameters. And detecting and judging the initial coordinate system obtained by calibration through precision, and optimizing and adjusting the workpiece coordinate system and the tool coordinate system according to the precision, so that a target coordinate system with high absolute precision can be obtained. The workpiece is processed through the first target coordinate system and the second target coordinate system, so that the absolute track precision of the mechanical arm 1306 in the actual processing process of the workpiece is improved.

Fifth embodiment:

In still another embodiment of the present invention, there is provided a readable storage medium having a program stored thereon, which when executed by a processor, implements the control method of the processing apparatus in any of the above embodiments, thereby having all the advantageous technical effects of the control method of the processing apparatus in any of the above embodiments.

It should be understood that, in the claims, the specification and the drawings of the present invention, the term "plurality" shall mean two or more, unless otherwise explicitly defined, that the terms "upper", "lower", etc. refer to an orientation or a positional relationship based on the orientation or the positional relationship shown in the drawings, merely to more conveniently describe the present invention and make the description easier, and not to indicate or imply that the apparatus or element in question must have the specific orientation described, construct and operate in the specific orientation, so that the description shall not be construed as limiting the present invention, and that the terms "connected", "mounted", "fixed", etc. shall be construed broadly, and that "connected" may be, for example, a fixed connection between a plurality of objects, a detachable connection between a plurality of objects, or an integral connection, a direct connection between a plurality of objects, or an indirect connection between a plurality of objects through intermediaries. The specific meaning of the terms in the present invention can be understood in detail from the above data by those of ordinary skill in the art.

The description of the terms "one embodiment," "some embodiments," "particular embodiments," and the like in the claims, specification, and drawings of the present invention mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the claims, specification and drawings of the invention, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method of a processing apparatus including a robot arm for processing a workpiece, characterized by comprising:

Receiving a coordinate calibration instruction, acquiring a first initial coordinate system of the mechanical arm, and determining a second initial coordinate system of the workpiece;

determining the precision of the first initial coordinate system and the second initial coordinate system;

Adjusting the first initial coordinate system and the second initial coordinate system according to the precision to obtain a first target coordinate system and a second target coordinate system;

Controlling the mechanical arm to process the workpiece under the first target coordinate system and the second target coordinate system;

Wherein the precision comprises rotation parameter precision and displacement parameter precision;

The step of adjusting the first initial coordinate system and the second initial coordinate system according to the precision specifically includes:

Determining a target rotation parameter based on the rotation parameter accuracy of the first initial coordinate system and the second initial coordinate system being outside a first set accuracy range;

determining a target displacement parameter based on the displacement parameter precision of the first initial coordinate system and the second initial coordinate system being outside a second set precision range;

Determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter;

before the step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter, the method further comprises:

determining a coordinate system adjustment range according to the first initial coordinate system and the second initial coordinate system;

The step of determining the first target coordinate system and the second target coordinate system according to the target rotation parameter and the target displacement parameter specifically includes:

Establishing a first correction coordinate system and a second correction coordinate system according to the target rotation parameter and the target displacement parameter;

And searching the first corrected coordinate system and the second corrected coordinate system in the coordinate system adjusting range by a simplex method based on the accuracy of the first corrected coordinate system and the second corrected coordinate system being out of a third set accuracy range so as to obtain the first target coordinate system and the second target coordinate system.

2. The method of controlling a processing apparatus according to claim 1, wherein the step of determining the target rotation parameter specifically includes:

Obtaining initial rotation parameters of the first initial coordinate system and the second initial coordinate system, converting the initial rotation parameters into corresponding quaternions, and determining target rotation parameters in the coordinate system adjusting range through a genetic algorithm according to the quaternions.

3. The method for controlling a processing apparatus according to claim 1, wherein the step of determining the target displacement parameter specifically includes:

Acquiring initial displacement parameters of the first initial coordinate system and the second initial coordinate system;

And determining target displacement parameters in the coordinate system adjusting range through a genetic algorithm according to the initial displacement parameters.

4. A method of controlling a processing apparatus according to any one of claims 1 to 3, characterized in that the step of determining a first initial coordinate system of the robotic arm and a second initial coordinate system of the workpiece, in particular comprises:

Acquiring a current tool coordinate system of the mechanical arm as the first initial coordinate system;

acquiring a current workpiece coordinate system of the workpiece, and determining a correction parameter value of the current workpiece coordinate system;

And adjusting the current workpiece coordinate system according to the correction parameter value to obtain the second initial coordinate system.

5. The method according to claim 4, wherein the step of determining correction parameter values of the current workpiece coordinate system, in particular, comprises:

acquiring at least two test coordinate points on the workpiece, and determining a coordinate origin of the workpiece according to the test coordinate points;

And obtaining a test distance from the origin of coordinates to the test coordinate point, and determining the correction parameter value according to the test distance.

6. The method for controlling a processing apparatus according to claim 5, wherein,

The number of the test coordinate points is 8.

7. A processing apparatus, comprising:

the mechanical arm is used for processing a workpiece;

the sensor is used for collecting the parameters of the movement of the mechanical arm relative to the workpiece;

a memory having a program or instructions stored thereon;

a processor executing the program or instructions to implement the steps of the control method of the processing apparatus according to any one of claims 1 to 6.

8. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, realize the steps of the control method of the processing apparatus according to any one of claims 1 to 6.