CN117125469B - Automatic loading and unloading control method, system, device, equipment and medium for radiating fins - Google Patents
Automatic loading and unloading control method, system, device, equipment and medium for radiating fins Download PDFInfo
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- CN117125469B CN117125469B CN202311170086.8A CN202311170086A CN117125469B CN 117125469 B CN117125469 B CN 117125469B CN 202311170086 A CN202311170086 A CN 202311170086A CN 117125469 B CN117125469 B CN 117125469B
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000012545 processing Methods 0.000 claims abstract description 54
- 230000033001 locomotion Effects 0.000 claims abstract description 48
- 238000003754 machining Methods 0.000 claims abstract description 13
- 230000017525 heat dissipation Effects 0.000 claims description 60
- 238000012937 correction Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 description 18
- 238000004891 communication Methods 0.000 description 11
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- 238000003491 array Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 238000013021 overheating Methods 0.000 description 1
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- 238000003672 processing method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0225—Orientation of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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Abstract
The application relates to a radiating fin automatic loading and unloading control method, a system, a device, equipment and a medium, which are applied to the technical field of radiating fin processing and applied to a radiating fin automatic loading and unloading control system, and comprise the following steps: responding to a machining starting command, and acquiring a moving video of the radiating fin on the first conveyor belt; determining first location information based on the mobile video; adjusting the position of the radiating fin based on the first position information and the homing device to obtain second position information; planning a movement path of the robot arm based on the second position information; controlling the robot arm to grasp the radiating fins based on the moving path; and after the robot arm grabs the radiating fins, machining the radiating fins. The automatic processing device has the advantages of adapting to automatic processing of the radiating fins and realizing automatic debugging of the robot arm.
Description
Technical Field
The application relates to the technical field of radiating fin processing, in particular to an automatic radiating fin loading and unloading control method, an automatic radiating fin loading and unloading control system, an automatic radiating fin loading and unloading control device, automatic radiating fin loading and unloading control equipment, automatic radiating fin loading and unloading control medium.
Background
In the field of automobiles, heat dissipation fins are generally adopted for dissipating heat of an engine, so that damage of the engine caused by overheating is reduced, and the engine is in a proper temperature range, thereby protecting the engine.
In the process of processing the radiating fins, the robot arm is generally used for completing automatic feeding and discharging, so that the production efficiency is improved to a certain extent, and the inefficiency of manual feeding is eliminated.
However, in the process of completing automatic loading and unloading by using the robot arm, the debugging personnel of the robot arm manufacturer is highly relied on, the machining personnel of the radiating fins do not have corresponding capability to complete the debugging and the installation of the robot arm, in a machining workshop, the situation that a machine tool is moved to change the equipment position often occurs due to the machining requirement, and the machine tool and the robot arm position are changed, so that the debugging personnel are required to debug the robot arm again to meet the machining requirement, obviously, the debugging personnel not only consume personnel, expense and time for debugging the robot arm, but also more serious possibility is that the factory stops machining and delays production.
Disclosure of Invention
In order to adapt to automatic processing of the radiating fins and realize automatic debugging of a robot arm, the application provides a radiating fin automatic loading and unloading control method, a radiating fin automatic loading and unloading control system, radiating fin automatic loading and unloading control device, radiating fin automatic loading and unloading control equipment and a radiating fin automatic loading and unloading medium.
In a first aspect, the present application provides a method for controlling automatic loading and unloading of a heat dissipation fin, which adopts the following technical scheme:
an automatic loading and unloading control method for radiating fins is applied to an automatic loading and unloading control system for radiating fins, and comprises the following steps:
responding to a machining starting command, and acquiring a moving video of the radiating fin on the first conveyor belt;
determining first location information based on the mobile video;
adjusting the position of the radiating fin based on the first position information and the homing device to obtain second position information;
planning a movement path of the robot arm based on the second position information;
controlling the robot arm to grasp the radiating fins based on the moving path;
and after the robot arm grabs the radiating fins, machining the radiating fins.
Through adopting above-mentioned technical scheme, when needs utilize the robot arm to snatch radiating fin, at first plan the travel path of robot arm through radiating fin's positional information, then snatch robot arm according to the travel path, process radiating fin at last, snatch radiating fin's position control robot arm through automatic identification, can adapt to radiating fin's automated processing, realize robot arm's automated debugging, more convenient processing radiating fin.
Optionally, the determining the first location information based on the mobile video includes:
intercepting a plurality of first characteristic images of the mobile video according to a preset strategy, wherein the preset strategy comprises dividing the mobile video into a plurality of video segments based on preset time and preset time intervals;
and extracting the characteristic information of the plurality of first characteristic images, and determining the first position information of the radiating fin according to the extracted characteristic information.
Optionally, adjusting the position of the heat dissipation fin based on the first position information and the homing device, and obtaining the second position information includes:
establishing a two-dimensional coordinate system based on the first conveyor belt;
controlling a homing device to adjust the radiating fins based on the first position information to obtain an adjustment result;
controlling the first conveyor belt to start based on the adjustment result so that the first conveyor belt carries out position correction on the radiating fins to obtain a correction result;
and determining the second position information based on the correction result.
Optionally, the planning the movement path of the robot arm based on the first position information includes:
establishing a three-dimensional space coordinate system based on a processing workshop;
Determining coordinate information of the radiating fin based on the first position information;
acquiring the gesture coordinates of the robot arm in the three-dimensional space coordinate system;
determining positioning coordinates of the robot arm grabbing points based on the gesture coordinates, wherein the positioning coordinates are coordinates of the robot arm grabbing positions;
and planning a moving path of the robot arm based on the positioning coordinates, the coordinate information of the radiating fins and the gesture coordinates of the robot arm.
Optionally, the planning the moving path of the robot arm based on the positioning coordinates, the coordinate information of the heat dissipation fins, and the gesture coordinates of the robot arm includes:
acquiring all movement gesture tracks of the robot arm;
acquiring a coordinate set of the moving gesture track in the three-dimensional space coordinate system;
performing curve fitting on the coordinate set to obtain a plurality of fitting curves;
determining a plurality of moving paths based on the plurality of fitting curves;
selecting the plurality of moving paths to obtain an optimal moving path;
and taking the optimal moving path as the moving path of the robot arm.
Optionally, when the fin automatic loading and unloading control system includes two robot arms, after the selecting the plurality of moving paths to obtain an optimal moving path, the method further includes:
Acquiring a first optimal moving path and a second optimal moving path, wherein the first optimal moving path is an optimal moving path of a first robot arm, and the second optimal moving path is an optimal moving path of a second robot arm;
determining a first set of movement coordinates of the first robotic arm based on the first optimal movement path;
determining a second set of movement coordinates of the second robot arm based on the second optimal movement path;
based on whether there are duplicate coordinates in the first set of mobile coordinates and the second set of mobile coordinates;
if the repeated coordinates exist, the longest moving path in the first optimal moving path and the second optimal moving path is selected for adjustment, and an adjustment moving path is obtained;
and taking the adjusted moving path and the optimal moving path as moving paths of the robot arm.
In a second aspect, the present application provides a fin automatic loading and unloading control device, which adopts the following technical scheme:
an automatic loading and unloading control device for radiating fins, comprising:
the response acquisition module is used for responding to the processing starting command and acquiring a moving video of the radiating fin on the first conveyor belt;
A determining module for determining first location information based on the mobile video;
the adjusting module is used for adjusting the positions of the radiating fins based on the first position information and the homing device to obtain second position information;
the planning module is used for planning a moving path of the robot arm based on the second position information;
the grabbing module is used for controlling the robot arm to grab the radiating fins based on the moving path;
and the processing module is used for processing the radiating fins after the robot arm grabs the radiating fins.
Through adopting above-mentioned technical scheme, when needs utilize the robot arm to snatch radiating fin, at first plan the travel path of robot arm through radiating fin's positional information, then snatch robot arm according to the travel path, process radiating fin at last, snatch radiating fin's position control robot arm through automatic identification, can adapt to radiating fin's automated processing, realize robot arm's automated debugging, more convenient processing radiating fin.
In a third aspect, the present application provides an electronic device, which adopts the following technical scheme:
an electronic device comprising a processor coupled with a memory;
the memory stores a computer program that can be loaded by a processor and that executes the fin automatic loading/unloading control method according to any one of the first aspects.
In a fourth aspect, the present application provides a fin automatic loading and unloading control system, which adopts the following technical scheme:
the utility model provides a radiating fin automatic feeding and discharging control system, includes first conveyer belt, proximity switch, electronic equipment, homing device, stop device, shooting device and a plurality of robot arm as described in the third aspect, first conveyer belt, proximity switch, homing device, stop device, shooting device and a plurality of robot arm all with the electronic equipment electricity is connected.
In a fifth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
a computer-readable storage medium storing a computer program capable of being loaded by a processor and executing the fin automatic loading/unloading control method according to any one of the first aspect.
Drawings
Fig. 1 is a block diagram of a heat dissipation fin automatic loading and unloading control system according to an embodiment of the present application.
Fig. 2 is a schematic flow chart of a method for controlling automatic loading and unloading of a heat dissipation fin according to an embodiment of the present application.
Fig. 3 is a schematic view for showing a posture of the heat radiating fin in the first position.
Fig. 4 is a schematic view for showing a posture of the heat radiating fin in the second position.
Fig. 5 is a block diagram of a heat dissipation fin automatic loading and unloading control device according to an embodiment of the present application.
Fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present application provides a fin automatic loading and unloading control system, which is disposed in a fin processing workshop, and includes a first conveyor belt; be provided with the baffle on first conveyer belt, one side that first conveyer belt is close to the baffle is provided with the district of waiting to take, is provided with proximity switch, homing device and stop device in waiting to take the district, is provided with a plurality of robotic arms in first conveyer belt both sides.
The automatic loading and unloading control system further comprises electronic equipment and shooting equipment, and the first conveying belt, the proximity switch, the homing device, the limiting device, the shooting device and the plurality of robot arms are electrically connected with the electronic equipment.
In this embodiment, when the first conveyor belt conveys the heat dissipation fins to the area to be taken, the first conveyor belt conveys the heat dissipation fins to the baffle, then the electronic device controls the first conveyor belt to stop running and controls the homing device to move from one side of the first conveyor belt to the other side of the first conveyor belt, so that the homing device pushes the heat dissipation fins to reach a designated position, when the heat dissipation fins reach the designated position, the limiting device limits the heat dissipation fins, meanwhile, the electronic device controls the first conveyor belt to stop running, then the electronic device controls the robot arm to grasp the heat dissipation fins, the robot arm places the grasped heat dissipation fins on the processing area for processing, and then places the processed heat dissipation fins on the second conveyor belt, wherein the second conveyor belt is electrically connected with the electronic device, and the processed heat dissipation fins are transmitted to the next procedure; when the proximity switch detects that the radiating fins are grabbed, the electronic equipment continuously controls the first conveying belt to start, so that the first conveying belt continuously conveys the radiating fins.
In this embodiment, the homing device includes the pneumatic cylinder and with pneumatic cylinder piston rod fixed connection's push pedal, one side and the baffle butt of push pedal, the flexible direction of pneumatic cylinder sets up perpendicularly with the direction of delivery of first conveyer belt, stop device sets up in waiting to take the district and keeps away from the one side of pneumatic cylinder, i.e. push pedal pushes away radiating fin to stop device department.
The limiting device comprises a limiting block and a limiting switch which are fixed on one side of the conveying belt far away from the hydraulic cylinder, and the limiting switch is electrically connected with the controller; when radiating fin butt is on limit switch, electronic equipment control homing device contracts, and the continuous operation of first conveyer belt is presetted time of control simultaneously, through the relative motion between first conveyer belt and the radiating fin, adjusts radiating fin's gesture to make things convenient for the robot arm to snatch radiating fin more easily.
When the robot arm is required to grab the radiating fin, the shooting equipment shoots the radiating fin and the robot arm, so that the relative positions of the radiating fin and the robot arm are known, the electronic equipment controls the robot arm to grab the radiating fin, after grabbing the radiating fin, the robot arm moves the radiating fin to a processing area to complete the processing of the radiating fin, after the processing of the radiating fin is completed, the electronic equipment controls the robot arm to move, the processed radiating fin is placed on a second conveying belt to carry out the processing of the next procedure.
The embodiment of the application provides a radiating fin automatic loading and unloading control method, which can be executed by electronic equipment, wherein the electronic equipment can be a server or terminal equipment, and the server can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server for providing cloud computing service. The terminal device may be, but is not limited to, a smart phone, a tablet computer, a desktop computer, etc.
As shown in fig. 2, a method for controlling automatic loading and unloading of a heat dissipation fin is applied to the above-mentioned automatic loading and unloading control system of a heat dissipation fin, and the main flow of the method is described as follows (steps S101 to S106):
step S101, responding to a processing starting command, and acquiring a moving video of the radiating fin on the first conveyor belt.
In this embodiment, in the heat dissipation fin processing workshop, a worker sends a processing start command to the system through electronic equipment, unprocessed heat dissipation fins are conveyed to the processing workshop from the previous process through a first conveying belt, and the first conveying belt conveys the heat dissipation fins to a region to be taken from an inlet.
In the transmission process of the radiating fins, shooting is carried out on the transmission process of the radiating fins through shooting equipment, a first mobile video is obtained, and then the shooting equipment sends the first mobile video into the electronic equipment.
Step S102, determining first location information based on the mobile video.
Specifically, determining the first location information based on the first mobile video includes: intercepting a plurality of first characteristic images of the mobile video according to a preset strategy, wherein the preset strategy comprises dividing the mobile video into a plurality of video segments based on preset moments and preset time intervals; and extracting the characteristic information of the plurality of first characteristic images, and determining the first position information of the radiating fins according to the extracted characteristic information.
In this embodiment, in the process that the heat dissipation fin moves on the conveyor belt, the motor drives the conveyor belt to move, and the heat dissipation fin is caused to deviate from the position of the conveyor belt due to vibration generated by rotation of the motor, so that the moving video needs to be intercepted according to a preset strategy, wherein the preset strategy includes dividing the moving video into a plurality of video segments based on preset time and preset time intervals, and then intercepting a plurality of first feature images according to the plurality of video segments, wherein the preset time is the time when the heat dissipation fin appears in the moving video, the preset time interval can be 100ms or 150ms, the first feature image is a feature image of the heat dissipation fin at the preset time and the time when the preset time interval passes, and feature information is extracted through the plurality of feature images, the feature information is the gesture of the heat dissipation fin and the distance from the edge of the conveyor belt, and the distance between the heat dissipation fin and the edge of the conveyor belt is the center of the heat dissipation fin and the long edge of the conveyor belt is taken as a rectangle, but not limited thereto.
In this embodiment, since a plurality of heat dissipation fins exist on the conveyor belt and the heat dissipation fins appear in sequence, each heat dissipation fin is numbered on the mobile video and displayed on the mobile video, and the preset time is the time when the heat dissipation fin corresponding to each number appears on the mobile video for the first time; the preset time interval is correspondingly set according to the running speed of the conveyor belt.
In the process that the first conveyor belt drives the radiating fins to move, shooting equipment arranged in a processing workshop shoots the movement of the radiating fins to obtain a moving video of the radiating fins, wherein the shooting equipment can be a camera which can rotate and can also be a video recorder which can capture images. After the moving video of the heat radiating fin is obtained, first position information of the heat radiating fin needs to be determined by the moving video.
In this embodiment, after the heat dissipation fin is processed in the previous process, the heat dissipation fin is conveyed to the area to be taken through the first conveying belt, and is affected by vibration of the first conveying belt or placed at different positions of the first conveying belt, so that the position of the heat dissipation fin is deviated in the area to be taken, and the position of the heat dissipation fin reaching the area to be taken each time is inconsistent, so that grabbing of the heat dissipation fin by a robot arm is affected, therefore, in the moving process of the heat dissipation fin, the movement of the heat dissipation fin on the first conveying belt is shot through the shooting equipment, the first position information of the heat dissipation fin is determined by the electronic equipment based on the moving video, and the second position information of the heat dissipation fin is obtained by accurately positioning the heat dissipation fin through the first position information.
The positions of the radiating fins on the first conveyor belt are different, and the radiating fins are affected by vibration in the conveying process, so that the positions of the radiating fins reaching the region to be taken are changed, a plurality of first characteristic images of the moving video are extracted according to a preset strategy, and then the first positions of the radiating fins are determined through the plurality of first characteristic images, so that the robot arm can grasp the radiating fins.
In this embodiment, after a plurality of first feature images are obtained, feature information extraction is performed on the plurality of first feature images through an image recognition model, so that the positions of the radiating fins on the first conveyor belt are determined by using the feature information, and further, first position information of the radiating fins reaching a region to be taken is determined, and preliminary positioning is performed.
S103, adjusting the positions of the radiating fins based on the first position information and the homing device to obtain second position information.
Specifically, the positions of the radiating fins are adjusted based on the first position information and the homing device, so that second position information is obtained: establishing a two-dimensional coordinate system based on the first conveyor belt; controlling the homing device to adjust the radiating fins based on the first position information to obtain an adjustment result; controlling the first conveyor belt to start based on the adjustment result so that the first conveyor belt corrects the positions of the radiating fins to obtain a correction result; and determining second position information based on the correction result.
When the radiating fins reach the area to be taken, the radiating fins need to be adjusted and corrected at the moment, so that the robot arm can conveniently grasp the radiating fins, and the radiating fins can be machined more quickly.
After the first position information is obtained, the electronic equipment controls the homing device to adjust the radiating fins, the radiating fins are pushed to the second position, and the robot arm is more convenient to take the radiating fins.
For example, when the heat dissipation fin reaches the first position, the heat dissipation fin is in an inclined state, as shown in fig. 3, is adjusted by the homing device and is parallel to the first conveyor belt, as shown in fig. 4, and the adjusted heat dissipation fin is adjusted to the second position, so that the robot can grasp more conveniently.
And selecting a base point of the first conveyor belt as an origin of a two-dimensional coordinate system, determining the coordinates of the radiating fins through the extracted picture characteristic information, adjusting the radiating fins by the electronic equipment through a coordinate control homing device of the radiating fins to obtain the coordinates of the radiating fins after adjustment, and correcting the positions of the radiating fins through the first conveyor belt to obtain a correction result, so that the electronic equipment can control a robot arm to grasp the radiating fins according to the accurate second position information.
In this embodiment, it is worth explaining that the coordinates of the center point of the heat radiating fin are adopted as the positions of the heat radiating fins.
Step S104, planning a moving path of the robot arm based on the second position information.
Specifically, planning a movement path of the robot arm based on the first position information includes: establishing a three-dimensional space coordinate system based on a processing workshop; determining coordinate information of the radiating fin based on the first position information; acquiring the gesture coordinates of the robot arm in a three-dimensional space coordinate system; determining positioning coordinates of a grabbing point of the robot arm based on the gesture coordinates, wherein the positioning coordinates are coordinates of grabbing parts of the robot arm; and planning a moving path of the robot arm based on the positioning coordinates, the coordinate information of the radiating fins and the gesture information of the robot arm.
In this embodiment, when the heat dissipation fin reaches the area to be taken, and after the position of the heat dissipation fin is adjusted and corrected by the homing device and the first conveyor belt, the electronic device precisely controls the robot arm to grasp the heat dissipation fin according to the coordinates of the heat dissipation fin and the coordinates of the robot arm, thereby being more convenient and rapid.
When the robot arm is required to be controlled to grab the radiating fins, a three-dimensional space coordinate system is required to be established according to a processing workshop, then the coordinate information of the radiating fins is determined in the three-dimensional space coordinate system through the first position information of the radiating fins, and the first position information is converted into three-dimensional coordinates in the three-dimensional space coordinate system and marked in the three-dimensional space coordinate system.
After the radiating fins are marked, the gesture coordinates of the robot arms need to be determined according to the gestures of the robot arms in the space, the gesture coordinates of the robot arms comprise the coordinates of a robot base, the coordinates of the robot arms in an extending state and the coordinates of the robot arms in a bending state, so that the working range of the robot arms in a processing workshop is known, the processing of the processing workshop is conveniently arranged, and the radiating fins are more convenient to process.
In this embodiment, when the coordinate information of the heat dissipation fins and the gesture coordinates of the robot arm are known, the coordinates of the grabbing points of the robot arm are further determined according to the gesture coordinates of the robot arm, and the robot arm is controlled to work through the positioning coordinates of the grabbing points of the robot arm, so that automatic grabbing of the robot arm is completed.
It is worth to say that, be provided with two on the robot arm and snatch the hand, correspond the different processing methods of fin, when needing a robot arm to accomplish the different processing procedures of fin, the snatch hand of robot arm corresponds with the processing procedure quantity of fin.
Further, planning the movement path of the robot arm based on the positioning coordinates, the coordinate information of the heat radiating fins, and the posture information of the robot arm includes: acquiring all movement gesture tracks of the robot arm; acquiring a coordinate set of a moving gesture track in a three-dimensional space coordinate system; performing curve fitting on the coordinate set to obtain a plurality of fitting curves; determining a plurality of moving paths based on the plurality of fitting curves; selecting a plurality of moving paths to obtain an optimal moving path; and taking the optimal moving path as the moving path of the robot arm.
In this embodiment, when the electronic device is required to control the robot arm to grasp the heat dissipation fins, a movement gesture track of the robot arm in the processing space is required to be prestored in the electronic device, then a coordinate set of the robot arm is obtained through the movement gesture track, curve fitting is performed on the coordinate set according to the movement gesture of the robot arm in a three-dimensional space coordinate system, a plurality of fitting curves are obtained, the obtained fitting curves are used as movement paths of the robot arm, and the electronic device controls the robot arm to work through the plurality of movement paths.
After a plurality of moving paths are obtained, firstly screening the moving paths based on the coordinate information of the radiating fins, deleting useless moving paths which enable the grabbing hand of the robot arm not to reach the positions of the radiating fins, then selecting the shortest distance of the movement of the robot arm according to the positioning coordinates of the robot arm and the current gesture coordinates of the robot arm, selecting the moving path closest to the shortest distance from the moving paths, and taking the moving path closest to the shortest distance as the optimal moving path of the robot arm.
It should be noted that the moving gesture track may be obtained by performing simulation by software, or may be obtained by manually inputting all gesture coordinates of the robot arm into the electronic device and then performing fitting in a three-dimensional coordinate system, which is not limited herein.
Further, due to the arrangement of the processing workshops, when some processing workshops are equipped with two or even a plurality of robot arms to process the heat dissipation fins, after selecting a plurality of moving paths to obtain an optimal moving path, the method further includes: acquiring a first optimal moving path and a second optimal moving path, wherein the first optimal moving path is an optimal moving path of a first robot arm, and the second optimal moving path is an optimal moving path of a second robot arm; determining a first set of movement coordinates of the first robot arm based on the first optimal movement path; determining a second set of movement coordinates of a second robot arm based on the second optimal movement path; whether duplicate coordinates exist based on the first set of mobile coordinates and the second set of mobile coordinates; if the repeated coordinates exist, the longest moving path in the first optimal moving path and the second optimal moving path is selected for adjustment, and an adjustment moving path is obtained; and taking the adjustment moving path and the optimal moving path as the moving path of the robot arm.
For ease of understanding, this embodiment is illustrated with two robotic arms.
When the two robot arms are used for processing the radiating fins, the two robot arms are used for processing and move towards the radiating fins, so that the moving paths of the two robot arms are likely to collide in the process of grabbing the radiating fins, the processing of the radiating fins is affected, and after the optimal moving paths of the two robot arms are determined, whether the radiating fins can move according to the selected optimal moving paths is judged through a first moving coordinate set of the first robot arm and a second moving coordinate set of the second robot arm.
Specifically, when the first moving coordinate set and the second moving coordinate set have the same moving coordinates, it means that the first robot arm and the second robot arm collide with each other at the same moving coordinates, so that it is necessary to adjust the moving path of one of the robot arms, and in this embodiment, it is determined which moving robot is specifically adjusted by the moving path lengths of the two robot arms.
And respectively calculating the distance between the two farthest coordinates of the first moving coordinate set and the second moving coordinate set in the three-dimensional space coordinate system, then selecting two robot arms corresponding to the longest distance, and adjusting the moving path of the robot arms.
The specific adjustment process is as follows: since the plurality of moving paths exist in the step, and the moving path selected when the optimal path is selected is the shortest distance from the robot arm to the radiating fin, when the moving path is adjusted, the rest moving paths are selected according to the shortest distance, namely, the rest moving paths are sorted, the moving path with the shortest distance is selected as the adjusting moving path, and then whether the adjusting moving path collides with the optimal moving path of the other robot arm is judged, and the judging method is the same as the above and is not repeated here. The remaining moving paths are all paths of the current robot arm excluding the optimal moving path.
It is worth to say that, not only can the optimal moving path of one robot arm be adjusted, but also two robot arms can be adjusted at the same time, and on the premise that the two robot arms do not collide, the path with the shortest moving distance of the robot arms is selected.
Step S105, controlling the robot arm to grasp the heat radiating fins based on the movement path.
In this embodiment, after determining the movement path, the electronic device controls the robotic arm to grasp the heat dissipation fins according to the optimal movement path.
Step S106, after the robot arm grabs the radiating fins, the radiating fins are processed.
After the grabbing is completed, the electronic equipment controls the robot arm to move to a processing area with the radiating fins according to a preset path, and the processing of the radiating fins is completed.
Fig. 5 is a block diagram of a heat dissipation fin automatic loading and unloading control device 200 according to an embodiment of the present application.
As shown in fig. 5, the fin automatic loading and unloading control device 200 mainly includes:
a response obtaining module 201, configured to respond to a machining start command, and obtain a moving video of the heat dissipation fin on the first conveyor belt in response to the machining start command;
A determining module 202 for determining first location information based on the mobile video;
the adjusting module 203 is configured to adjust the position of the heat dissipation fin based on the first position information and the homing device, so as to obtain second position information;
a planning module 204, configured to plan a movement path of the robot arm based on the first position information;
the grabbing module 205 is used for controlling the robot arm to grab the radiating fins based on the moving path;
and the processing module 206 is used for processing the radiating fins after the robot arm grabs the radiating fins.
As an optional implementation manner of this embodiment, the determining module 202 is further specifically configured to determine, based on the mobile video, the first location information includes: intercepting a plurality of first characteristic images of the mobile video according to a preset strategy, wherein the preset strategy comprises dividing the mobile video into a plurality of video segments based on preset moments and preset time intervals; and extracting the characteristic information of the plurality of first characteristic images, and determining the first position information of the radiating fins according to the extracted characteristic information.
As an optional implementation manner of this embodiment, the adjusting module 203 is further specifically configured to adjust the position of the heat dissipation fin based on the first position information and the homing device, to obtain second position information: establishing a two-dimensional coordinate system based on the first conveyor belt; controlling the homing device to adjust the radiating fins based on the first position information to obtain an adjustment result; controlling the first conveyor belt to start based on the adjustment result so that the first conveyor belt corrects the positions of the radiating fins to obtain a correction result; and determining second position information based on the correction result.
As an optional implementation manner of this embodiment, the planning module 204 is further specifically configured to plan, based on the first position information, a movement path of the robot arm, including: establishing a three-dimensional space coordinate system based on a processing workshop; determining coordinate information of the radiating fin based on the first position information; acquiring the gesture coordinates of the robot arm in a three-dimensional space coordinate system; determining positioning coordinates of a grabbing point of the robot arm based on the gesture coordinates, wherein the positioning coordinates are coordinates of grabbing parts of the robot arm; and planning a moving path of the robot arm based on the positioning coordinates, the coordinate information of the radiating fins and the gesture coordinates of the robot arm.
As an optional implementation manner of this embodiment, the planning module 204 is further specifically configured to plan a movement path of the robot arm based on the positioning coordinates, the coordinate information of the heat dissipation fins, and the gesture coordinates of the robot arm, where the planning module includes: acquiring all movement gesture tracks of the robot arm; acquiring a coordinate set of a moving gesture track in a three-dimensional space coordinate system; performing curve fitting on the coordinate set to obtain a plurality of fitting curves; determining a plurality of moving paths based on the plurality of fitting curves; selecting a plurality of moving paths to obtain an optimal moving path; and taking the optimal moving path as the moving path of the robot arm.
As an optional implementation manner of this embodiment, when the fin automatic loading/unloading control system includes two robot arms, the planning module 204 is further specifically configured to select, after selecting the plurality of movement paths to obtain the optimal movement path, the method further includes: acquiring a first optimal moving path and a second optimal moving path, wherein the first optimal moving path is an optimal moving path of a first robot arm, and the second optimal moving path is an optimal moving path of a second robot arm; determining a first set of movement coordinates of the first robot arm based on the first optimal movement path; determining a second set of movement coordinates of a second robot arm based on the second optimal movement path; whether duplicate coordinates exist based on the first set of mobile coordinates and the second set of mobile coordinates; if the repeated coordinates exist, the longest moving path in the first optimal moving path and the second optimal moving path is selected for adjustment, and an adjustment moving path is obtained; and taking the adjustment moving path and the optimal moving path as the moving path of the robot arm.
In one example, a module in any of the above apparatuses may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (application specific integratedcircuit, ASIC), or one or more digital signal processors (digital signal processor, DSP), or one or more field programmable gate arrays (field programmable gate array, FPGA), or a combination of at least two of these integrated circuit forms.
For another example, when a module in an apparatus may be implemented in the form of a scheduler of processing elements, the processing elements may be general-purpose processors, such as a central processing unit (central processing unit, CPU) or other processor that may invoke a program. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus and modules described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
Fig. 6 is a block diagram of an electronic device 300 according to an embodiment of the present application.
As shown in fig. 6, the electronic device 300 includes a processor 301 and a memory 302, and may further include an information input/information output (I/O) interface 303, one or more of a communication component 304, and a communication bus 305.
The processor 301 is configured to control the overall operation of the electronic device 300, so as to complete all or part of the steps of the automatic loading/unloading control method for the heat dissipation fins; the memory 302 is used to store various types of data to support operation at the electronic device 300, which may include, for example, instructions for any application or method operating on the electronic device 300, as well as application-related data. The Memory 302 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as one or more of static random access Memory (Static Random Access Memory, SRAM), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
The I/O interface 303 provides an interface between the processor 301 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 304 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, bluetooth, near field communication (Near Field Communication, NFC for short), 2G, 3G, or 4G, or a combination of one or more thereof, and accordingly the communication component 304 can include: wi-Fi part, bluetooth part, NFC part.
The electronic device 300 may be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), digital signal processors (Digital Signal Processor, abbreviated as DSP), digital signal processing devices (Digital Signal Processing Device, abbreviated as DSPD), programmable logic devices (Programmable Logic Device, abbreviated as PLD), field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), controllers, microcontrollers, microprocessors, or other electronic components for performing the fin automatic loading and unloading control method as provided in the above embodiments.
Communication bus 305 may include a pathway to transfer information between the aforementioned components. The communication bus 305 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus 305 may be divided into an address bus, a data bus, a control bus, and the like.
The electronic device 300 may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), car terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like, and may also be a server, and the like.
The application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the steps of the automatic loading and unloading control method of the radiating fin are realized when the computer program is executed by a processor.
The computer readable storage medium may include: a U-disk, a removable hard disk, a read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
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.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the application referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or their equivalents is possible without departing from the spirit of the application. Such as the above-mentioned features and the technical features having similar functions (but not limited to) applied for in this application are replaced with each other.
Claims (8)
1. The automatic loading and unloading control method for the radiating fins is characterized by being applied to an automatic loading and unloading control system for the radiating fins and comprising the following steps of:
responding to a machining starting command, and acquiring a moving video of the radiating fin on the first conveyor belt;
Determining first location information based on the mobile video;
adjusting the position of the radiating fin based on the first position information and the homing device to obtain second position information;
planning a movement path of the robot arm based on the second position information;
controlling the robot arm to grasp the radiating fins based on the moving path;
after the robot arm grabs the radiating fins, machining the radiating fins;
the determining first location information based on the mobile video includes:
intercepting a plurality of first characteristic images of the mobile video according to a preset strategy, wherein the preset strategy comprises dividing the mobile video into a plurality of video segments based on preset time and preset time intervals;
extracting characteristic information from the plurality of first characteristic images, and determining first position information of the radiating fins according to the extracted characteristic information;
the adjusting the position of the radiating fin based on the first position information and the homing device, and obtaining the second position information includes:
establishing a two-dimensional coordinate system based on the first conveyor belt;
controlling a homing device to adjust the radiating fins based on the first position information to obtain an adjustment result;
Controlling the first conveyor belt to start based on the adjustment result so that the first conveyor belt carries out position correction on the radiating fins to obtain a correction result;
and determining the second position information based on the correction result.
2. The method of claim 1, wherein the planning a path of movement of a robotic arm based on the first position information comprises:
establishing a three-dimensional space coordinate system based on a processing workshop;
determining coordinate information of the radiating fin based on the first position information;
acquiring the gesture coordinates of the robot arm in the three-dimensional space coordinate system;
determining positioning coordinates of the robot arm grabbing points based on the gesture coordinates, wherein the positioning coordinates are coordinates of the robot arm grabbing positions;
and planning a moving path of the robot arm based on the positioning coordinates, the coordinate information of the radiating fins and the gesture coordinates of the robot arm.
3. The method of claim 2, wherein the planning the movement path of the robotic arm based on the positioning coordinates, the coordinate information of the heat sink fins, and the pose coordinates of the robotic arm comprises:
Acquiring all movement gesture tracks of the robot arm;
acquiring a coordinate set of the moving gesture track in the three-dimensional space coordinate system;
performing curve fitting on the coordinate set to obtain a plurality of fitting curves;
determining a plurality of moving paths based on the plurality of fitting curves;
selecting the plurality of moving paths to obtain an optimal moving path;
and taking the optimal moving path as the moving path of the robot arm.
4. The method of claim 3, wherein when the fin automatic loading and unloading control system includes two robotic arms, after the selecting the plurality of movement paths to obtain the optimal movement path, the method further comprises:
acquiring a first optimal moving path and a second optimal moving path, wherein the first optimal moving path is an optimal moving path of a first robot arm, and the second optimal moving path is an optimal moving path of a second robot arm;
determining a first set of movement coordinates of the first robotic arm based on the first optimal movement path;
determining a second set of movement coordinates of the second robot arm based on the second optimal movement path;
Based on whether there are duplicate coordinates in the first set of mobile coordinates and the second set of mobile coordinates;
if the repeated coordinates exist, the longest moving path in the first optimal moving path and the second optimal moving path is selected for adjustment, and an adjustment moving path is obtained;
and taking the adjusted moving path and the optimal moving path as moving paths of the robot arm.
5. A fin automatic loading and unloading control apparatus using the fin automatic loading and unloading control method according to any one of claims 1 to 4, characterized by comprising:
the response acquisition module is used for responding to the processing starting command and acquiring a moving video of the radiating fin on the first conveyor belt;
a determining module for determining first location information based on the mobile video;
the adjusting module is used for adjusting the positions of the radiating fins based on the first position information and the homing device to obtain second position information;
a planning module for planning a movement path of the robot arm based on the first position information;
the grabbing module is used for controlling the robot arm to grab the radiating fins based on the moving path;
The processing module is used for processing the radiating fins after the robot arm grabs the radiating fins;
the determining module is further specifically configured to determine, based on the mobile video, first location information including: intercepting a plurality of first characteristic images of the mobile video according to a preset strategy, wherein the preset strategy comprises dividing the mobile video into a plurality of video segments based on preset moments and preset time intervals; extracting characteristic information from the plurality of first characteristic images, and determining first position information of the radiating fins according to the extracted characteristic information;
the adjusting module is further specifically configured to adjust a position of the heat dissipation fin based on the first position information and the homing device, so as to obtain second position information: establishing a two-dimensional coordinate system based on the first conveyor belt; controlling the homing device to adjust the radiating fins based on the first position information to obtain an adjustment result; controlling the first conveyor belt to start based on the adjustment result so that the first conveyor belt corrects the positions of the radiating fins to obtain a correction result; and determining second position information based on the correction result.
6. An electronic device comprising a processor coupled to a memory;
The processor is configured to execute a computer program stored in the memory to cause the electronic device to perform the method of any one of claims 1 to 4.
7. The automatic loading and unloading control system for the radiating fins is characterized by comprising a first conveying belt, a proximity switch, the electronic equipment, a homing device, a limiting device, a shooting device and a plurality of robot arms, wherein the electronic equipment is electrically connected with the first conveying belt, the proximity switch, the homing device, the limiting device, the shooting device and the plurality of robot arms.
8. A computer readable storage medium comprising a computer program or instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1 to 4.
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