CN116859920B - Accuracy compensation method and device, electronic equipment and drilling system - Google Patents
Accuracy compensation method and device, electronic equipment and drilling system Download PDFInfo
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- CN116859920B CN116859920B CN202310800936.1A CN202310800936A CN116859920B CN 116859920 B CN116859920 B CN 116859920B CN 202310800936 A CN202310800936 A CN 202310800936A CN 116859920 B CN116859920 B CN 116859920B
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- 238000004080 punching Methods 0.000 claims abstract description 157
- 238000012937 correction Methods 0.000 claims description 41
- 238000012545 processing Methods 0.000 claims description 35
- 238000004590 computer program Methods 0.000 claims description 20
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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Abstract
The application relates to a precision compensation method and device, electronic equipment and a punching system. The method comprises the following steps: according to the received target coordinates, indicating the automatic guided vehicle to move, and acquiring first current position coordinates corresponding to auxiliary positioning equipment under a preset coordinate system; acquiring a moving path of the auxiliary positioning equipment under a preset coordinate system, indicating the auxiliary positioning equipment to move based on the moving path so as to determine characteristic angle information corresponding to the automatic guided vehicle, acquiring a corresponding scale factor according to the moving path, and compensating the first current position coordinate according to the characteristic angle information and the scale factor to obtain punching position compensation information, wherein the punching position compensation information is used for indicating the automatic guided vehicle to move to a target punching position. By adopting the method, accurate operation can be carried out on each link of punching based on the automatic guided vehicle, so that accuracy compensation is carried out, and high-accuracy punching is realized.
Description
Technical Field
The present disclosure relates to the field of automotive automation devices, and in particular, to a precision compensation method and apparatus, an electronic device, and a punching system.
Background
Along with the increasing degree of industrial production automation, more and more production lines introduce large-scale automation equipment, and the installation of these equipment is in place, needs the manual work to use percussion drill, drills the rag bolt hole on ground, rethread rag bolt fixed equipment.
However, the ground is inevitably uneven and cracked, so that when the automatic punching equipment is used for installing holes on the ground, the punching positioning precision is low, and the high-precision falling position installation requirement of the equipment cannot be met.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a precision compensation method and apparatus, an electronic device, and a punching system that can improve punching positioning precision.
In a first aspect, the present application provides a precision compensation method applied to a controller of an automatic guided vehicle, where the automatic guided vehicle is provided with an auxiliary positioning device, and the auxiliary positioning device is connected with the controller; the method comprises the following steps:
receiving a target coordinate corresponding to a target punching position under a preset coordinate system;
according to the target coordinate, indicating the automatic guided vehicle to move, and acquiring a first current position coordinate corresponding to the auxiliary positioning equipment under a preset coordinate system;
acquiring a moving path of the auxiliary positioning equipment relative to the automatic guided vehicle, and indicating the auxiliary positioning equipment to move based on the moving path so as to determine the characteristic angle information corresponding to the automatic guided vehicle;
Acquiring a corresponding scale factor according to the moving path;
and carrying out compensation processing on the first current position coordinate according to the characteristic angle information and the scale factor to obtain punching position compensation information, wherein the punching position compensation information is used for indicating the automatic guided vehicle to move to the target punching position.
In one embodiment, the automatic guided vehicle is further provided with a punching device, and the punching device is connected with the controller; and carrying out compensation processing on the first current position coordinate according to the characteristic angle information and the scale factor, wherein the compensation processing comprises the following steps:
acquiring a second current position coordinate corresponding to the auxiliary positioning equipment under a preset coordinate system;
outputting a punching instruction, wherein the punching instruction is used for instructing a punching device to punch holes and obtaining corresponding hole position coordinates under a preset coordinate system; determining correction information corresponding to the automated guided vehicle based on the second current position coordinates, the hole position coordinates and the characteristic angle information;
and carrying out compensation processing on the first current position coordinate according to the correction information, the characteristic angle information and the scale factor.
In one embodiment, the step of determining correction information corresponding to the automated guided vehicle based on the second current position coordinates, the hole position coordinates, and the feature angle information comprises:
Determining a coordinate rotation angle corresponding to auxiliary positioning equipment under a preset coordinate system according to the characteristic angle information;
and determining correction information according to the coordinate rotation angle, the second current position coordinate and the hole position coordinate, wherein the correction information is used for correcting deviation between the auxiliary positioning equipment and the punching device.
In one embodiment, the step of performing compensation processing on the first current position coordinate according to the correction information, the characteristic angle information and the scale factor includes:
determining a coordinate rotation angle corresponding to auxiliary positioning equipment under a preset coordinate system according to the characteristic angle information;
acquiring an actual deviation value between the punching device and the auxiliary positioning equipment under a preset coordinate system based on the coordinate rotation angle and the correction information;
and carrying out compensation processing on the first current position coordinate based on the actual deviation value and the scaling factor.
In one embodiment, the movement path is a path under an automated guided vehicle coordinate system; the automatic guided vehicle coordinate system comprises a first coordinate axis and a second coordinate axis which are perpendicular to each other; the step of indicating the auxiliary positioning equipment to move based on the movement path to determine the characteristic angle information corresponding to the automatic guided vehicle comprises the following steps:
the auxiliary positioning equipment is indicated to move along the first coordinate axis and the second coordinate axis based on the moving path, so that the current rotation angle of the automatic guided vehicle and the inclination angle of the automatic guided vehicle on the current ground are determined under the condition of relative preset coordinate systems;
And taking the current rotation angle and the inclination angle as characteristic angle information corresponding to the automatic guided vehicle.
In one embodiment, the automated guided vehicle coordinate system further comprises a third coordinate axis, the third coordinate axis being perpendicular to a plane in which the first coordinate axis and the second coordinate axis are located; outputting a punching instruction, wherein the punching instruction is used for indicating a punching device to punch, and the method comprises the following steps of:
the punching instruction is used for indicating the punching device to move along the third coordinate axis so as to complete punching.
In one embodiment, the step of obtaining the corresponding scale factor according to the moving path includes:
obtaining a corresponding moving distance of the auxiliary positioning equipment under an automatic guided vehicle coordinate system based on the moving path;
and processing the moving distance through a preset calculation formula to obtain a scale factor.
In a second aspect, the present application further provides an accuracy compensation device, which is applied to a controller of an automatic guided vehicle, wherein the automatic guided vehicle is provided with an auxiliary positioning device, and the auxiliary positioning device is connected with the controller; the device comprises:
the punching information receiving module is used for receiving target coordinates corresponding to the target punching position under a preset coordinate system;
the coordinate determining module is used for indicating the automatic guided vehicle to move according to the target coordinate and acquiring a first current position coordinate corresponding to the auxiliary positioning equipment under a preset coordinate system;
The corner calculation module is used for acquiring a moving path of the auxiliary positioning equipment relative to the automatic guided vehicle and indicating the auxiliary positioning equipment to move based on the moving path so as to determine the characteristic angle information corresponding to the automatic guided vehicle;
the scale factor acquisition module is used for acquiring the corresponding scale factor according to the moving path;
and the punching position compensation module is used for carrying out compensation processing on the first current position coordinate according to the characteristic angle information and the scale factor to obtain punching position compensation information, wherein the punching position compensation information is used for indicating the automatic guided vehicle to move to the target punching position.
In a third aspect, the present application further provides a controller, where the controller includes a memory and a processor, the memory stores a computer program, and the processor implements the precision compensation method when executing the computer program.
In a fourth aspect, the present application further provides a punching system, including the controller, and an automatic guided vehicle, an auxiliary positioning device, a punching device, an upper computer device and a laser tracker respectively connected with the controller, wherein,
the upper computer equipment is used for acquiring target coordinates corresponding to the target punching position under a preset coordinate system and sending the target coordinates to the controller;
The laser tracker is used for tracking the auxiliary positioning equipment and collecting a first current position coordinate corresponding to the auxiliary positioning equipment under a preset coordinate system in real time;
a controller for receiving the target coordinates; controlling the automatic guided vehicle to move according to the target coordinate, and acquiring a first current position coordinate corresponding to the auxiliary positioning equipment under a preset coordinate system; acquiring a moving path of the auxiliary positioning equipment relative to the automatic guided vehicle, and indicating the auxiliary positioning equipment to move based on the moving path so as to determine the characteristic angle information corresponding to the automatic guided vehicle; acquiring a corresponding scale factor according to the moving path; and carrying out compensation processing on the first current position coordinate according to the characteristic angle information and the scale factor to obtain punching position compensation information, wherein the punching position compensation information is used for indicating the automatic guided vehicle to move to the target punching position.
In a fifth aspect, the present application also provides a computer-readable storage medium. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described accuracy compensation method.
In a sixth aspect, the present application also provides a computer program product. Computer program product comprising a computer program which, when executed by a processor, implements the above-mentioned accuracy compensation method.
According to the precision compensation method and device, the electronic equipment and the punching system, the first current position coordinate corresponding to the auxiliary positioning equipment under the preset coordinate system is obtained by indicating the automatic guided vehicle to move according to the received target coordinate; the method comprises the steps of obtaining a moving path of auxiliary positioning equipment under a preset coordinate system, indicating the auxiliary positioning equipment to move based on the moving path so as to determine characteristic angle information corresponding to an automatic guided vehicle, obtaining a corresponding scale factor according to the moving path, carrying out compensation processing on a first current position coordinate according to the characteristic angle information and the scale factor to obtain punching position compensation information, wherein the punching position compensation information is used for indicating the automatic guided vehicle to move to a target punching position, so that punching positioning precision is greatly improved.
Drawings
FIG. 1 is a diagram of an application environment for a precision compensation method in one embodiment;
FIG. 2 is a flow chart of a method of precision compensation in one embodiment;
FIG. 3 is a schematic diagram of an automated guided vehicle in one embodiment;
FIG. 4 is a schematic diagram of an embodiment of an auxiliary positioning device;
FIG. 5 is a flowchart of a compensation process for the first current position coordinates in one embodiment;
FIG. 6 is a schematic diagram of the coordinates of positions P1, P2, and P3 in the coordinate system 1-2 in one embodiment;
FIG. 7 is a schematic illustration of the positions P1, P2, and P3 in an embodiment in an assisted positioning device;
FIG. 8 is a schematic diagram of coordinate system 1-2, coordinate system 1-2', and coordinate system 1-2 "relative to coordinate system 1-1 in one embodiment;
FIG. 9 is a schematic diagram of coordinates of coordinate system 1-2 rotated about the Z-axis in coordinate system 1-1 to coordinate system 1-2' in one embodiment;
FIG. 10 is a schematic diagram of coordinates of coordinate system 1-2' rotated about the Y-axis in coordinate system 1-1 to coordinate system 1-2 "in one embodiment;
FIG. 11 is a schematic diagram of one embodiment of a coordinate system 1-2 "rotated about an X-axis in coordinate system 1-1 to a coordinate system 1-1 parallel;
FIG. 12 is a block diagram of a controller in one embodiment;
FIG. 13 is a block diagram showing the structure of a precision compensation device in one embodiment;
fig. 14 is an internal structural diagram of a controller in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The precision compensation method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. The automatic guided vehicle is positioned on the ground, the automatic guided vehicle is provided with a controller 102 and auxiliary positioning equipment 104, the auxiliary positioning equipment 104 is connected with the controller 102, and the controller 102 can be in communication connection with the upper computer equipment to obtain a target coordinate corresponding to a target punching position output by the upper computer equipment under a preset coordinate system; the auxiliary positioning device 104 may be communicatively connected to the positioning guide device 106 to implement real-time positioning of the automated guided vehicle, and the controller 102 may instruct the auxiliary positioning device 104 to move to determine the characteristic angle information corresponding to the automated guided vehicle, and the scale factor may compensate the first current position coordinate to instruct the automated guided vehicle to move to the target punching position. It should be noted that, the automatic guided vehicle and the positioning guide device 106 are matched and used within a certain distance, and a cable connection is not needed between the two devices, so that the movement limitation of the automatic guided vehicle is reduced.
The upper computer equipment can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things equipment and portable wearable equipment, and the internet of things equipment can be an intelligent sound box, an intelligent television, an intelligent air conditioner, intelligent vehicle-mounted equipment and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. An automatic guided vehicle (Automated Guided Vehicle, AGV) may be a transport vehicle equipped with an electromagnetic or optical automatic navigation device, which can travel along a predetermined navigation path and has safety protection and various transfer functions. The positioning and guiding device can refer to a laser tracker and is arranged at a corresponding position on the ground.
In one embodiment, as shown in fig. 2, there is provided a precision compensation method, which is described by taking an example that the method is applied to the controller in fig. 1, and the method includes:
s202, receiving target coordinates corresponding to the target punching position under a preset coordinate system.
The preset coordinate system may refer to a coordinate system established by taking the ground as a reference system.
Specifically, the controller may accept a target coordinate corresponding to the target punching position output by the upper computer device under a preset coordinate system.
The upper computer device can be provided with upper computer software, the high-precision laser tracker is combined for measurement, software operation, judgment and logic processing are performed based on the upper computer software, and processing data are sent to the controller, so that automatic control punching and automatic punching error compensation based on the automatic guided vehicle and the controller can be realized.
S204, indicating the automatic guided vehicle to move according to the target coordinates, and acquiring a first current position coordinate corresponding to the auxiliary positioning equipment under a preset coordinate system.
Specifically, the controller can instruct the automatic guided vehicle to move according to the target coordinates, so that the automatic guided vehicle moves to a position meeting the corresponding precision range of the target coordinates, the automatic guided vehicle is tracked through the laser tracker, the current position information of the automatic guided vehicle can be acquired in real time, the upper computer equipment can send the corresponding coordinate conversion relation to the controller, and the controller can obtain the first current position coordinate of the automatic guided vehicle based on the coordinate conversion relation and the current position information.
Further, the upper computer device can read the current position information of the auxiliary positioning device (automatic guided vehicle) acquired by the laser tracker in real time, and can send the data after the current position information is subjected to coordinate conversion to the controller, so that the controller can obtain the first current position coordinate of the automatic guided vehicle.
Alternatively, as shown in fig. 3, the automated guided vehicle may include a vehicle body 302 and an electric cabinet 304, the vehicle body 302 may travel over the ground by wheels, and the electric cabinet 304 is placed above the vehicle body 302, which may be used to house a controller.
S206, acquiring a moving path of the auxiliary positioning device relative to the automatic guided vehicle, and indicating the auxiliary positioning device to move based on the moving path so as to determine the characteristic angle information corresponding to the automatic guided vehicle.
The moving path may be set according to actual situations, which is not described in detail in the implementation of the present application.
Illustratively, as shown in FIG. 4, the auxiliary positioning device may include a tri-axis compensation apparatus and a laser target ball 420, wherein the tri-axis compensation apparatus may include a first moving assembly 412, a second moving assembly 414, and a third moving assembly 416; the laser target ball 420 is configured at the top of the third moving component 416, and the laser target ball 420 can be used to cooperate with a laser tracker to realize real-time positioning of auxiliary positioning equipment (automatic guided vehicle); the first moving component 412 can drive the laser target ball 420 to move along a first coordinate axis (X axis in the automated guided vehicle coordinate system), the second moving component 414 can drive the laser target ball 420 to move along a second coordinate axis (Y axis in the automated guided vehicle coordinate system), and the third moving component 416 can drive the laser target ball 420 to move along a third coordinate axis (Z axis in the automated guided vehicle coordinate system). It should be noted that the automatic guided vehicle coordinate system may refer to a coordinate system established by taking the automatic guided vehicle as a reference system.
Specifically, the controller can control the first moving assembly and the second moving assembly to move according to the moving path so as to drive the laser target ball to move, the laser target ball is matched with the laser tracker, the position information of the laser target ball is collected in real time and is output to the controller, and the controller can obtain the characteristic angle information corresponding to the automatic guided vehicle according to the position information.
In practical application, because the problem that the automatic guided vehicle moves to generate positioning errors and the ground is uneven exists, the characteristic angle information corresponding to the automatic guided vehicle can be obtained through the movement of the laser target ball in the auxiliary positioning equipment so as to automatically compensate the punching errors.
S208, obtaining the corresponding scale factors according to the moving paths.
The scaling factor may refer to a numerical scaling factor actually moving on the first coordinate axis and the second coordinate axis when the first moving component and the second moving component move.
Specifically, the controller can obtain corresponding scale factors according to the distance of the laser target ball moving along the first coordinate axis, the distance of the laser target ball moving along the second coordinate axis and corresponding position information, so as to realize high-precision punching.
And S210, carrying out compensation processing on the first current position coordinate according to the characteristic angle information and the scale factor to obtain punching position compensation information, wherein the punching position compensation information is used for indicating the automatic guided vehicle to move to the target punching position.
Specifically, after the characteristic angle information and the scaling factor are obtained, the controller can carry out compensation processing on the first current position coordinate according to the characteristic angle information and the scaling factor to obtain punching position compensation information, and then the automatic guided vehicle can be controlled to move to a target punching position based on the punching position compensation information, so that automatic compensation is realized through an algorithm, position errors and mechanical errors of the movement of the automatic guided vehicle and punching position deviation caused by uneven ground can be corrected, and punching precision is improved.
According to the precision compensation method, the target coordinates corresponding to the target punching position under the preset coordinate system are received, the automatic guided vehicle is instructed to move according to the target coordinates, the first current position coordinates corresponding to the auxiliary positioning device under the preset coordinate system are obtained, the moving path of the auxiliary positioning device relative to the automatic guided vehicle is obtained, the auxiliary positioning device is instructed to move based on the moving path to determine the characteristic angle information corresponding to the automatic guided vehicle, the corresponding scale factors are obtained according to the moving path, compensation processing is conducted on the first current position coordinates according to the characteristic angle information and the scale factors, punching position compensation information is obtained, the automatic guided vehicle is instructed to move to the target punching position by the punching position compensation information, and punching positioning precision is greatly improved.
In one embodiment, as shown in fig. 4, the automated guided vehicle is further provided with a punching device 430, and the punching device 430 is connected with the controller; and carrying out compensation processing on the first current position coordinate according to the characteristic angle information and the scale factor, wherein the compensation processing comprises the following steps:
acquiring a second current position coordinate corresponding to the auxiliary positioning equipment under a preset coordinate system;
outputting a punching instruction, wherein the punching instruction is used for instructing the punching device 430 to punch holes and obtaining corresponding hole position coordinates under a preset coordinate system; determining correction information corresponding to the automated guided vehicle based on the second current position coordinates, the hole position coordinates and the characteristic angle information;
and carrying out compensation processing on the first current position coordinate according to the correction information, the characteristic angle information and the scale factor.
The punching device may be set according to actual situations, and in this embodiment of the present application, an electric drill is taken as an example for explanation.
For example, as shown in fig. 4, the punching device 430 may be disposed on one side of the third moving assembly 416, and the third moving assembly 416 may drive the punching device 430 to move along a third coordinate axis (the Z axis in the automated guided vehicle coordinate system).
Specifically, the controller may set the punching device according to a preset deviation value, under the condition that the characteristic angle information is obtained, the controller may first obtain a second current position coordinate corresponding to the auxiliary positioning device under a preset coordinate system, then output a punching instruction to instruct the third moving component to move along the third coordinate axis, drive the punching device to punch, under the condition that the punching device completes punching, place the auxiliary tool into the hole, then place the laser target ball onto the auxiliary tool, and obtain the hole position coordinate (position information corresponding to the hole) through the laser target ball and the laser tracker; the controller may determine correction information corresponding to the automated guided vehicle based on the second current position coordinates, the hole position coordinates, and the characteristic angle information.
Alternatively, the auxiliary tool may refer to a hole measuring tool for placing a laser target ball, which is used for placing a laser target ball mated with a laser tracker to measure the positional accuracy (hole position coordinates) of an actually punched hole.
It should be noted that the correction information may be used to correct the deviation between the laser target ball and the punching device, i.e., the correction information only needs to be measured again after the punching device is replaced, otherwise, the correction information may be continuously used; the preset deviation value may be set according to actual situations, which is not limited in the embodiment of the present application.
In the embodiment of the application, correction information is obtained according to the second current position coordinate, the hole position coordinate and the characteristic angle information, and compensation processing is performed on the first current position coordinate according to the correction information, the characteristic angle information and the scale factor, so that high-precision punching is realized.
In one embodiment, the step of determining correction information corresponding to the automated guided vehicle based on the second current position coordinates, the hole position coordinates, and the feature angle information comprises:
determining a coordinate rotation angle corresponding to auxiliary positioning equipment under a preset coordinate system according to the characteristic angle information;
and determining correction information according to the coordinate rotation angle, the second current position coordinate and the hole position coordinate, wherein the correction information is used for correcting deviation between the auxiliary positioning equipment and the punching device.
Specifically, the controller may determine the coordinate rotation angle corresponding to the second current position coordinate according to the feature angle information of the automated guided vehicle, for example, may obtain rotation angles θx, θy, θz of the X axis, the Y axis, and the Z axis in the corresponding preset coordinate system, respectively, and then may calculate the correction information according to the calculated coordinate rotation angle, the second current position coordinate, and the hole position coordinate by using an euler angle formula.
In this embodiment of the application, correction information can be used for correcting the deviation between first movable assembly, second movable assembly and the third movable assembly respectively and perforating device to realize automatic compensation punching error, thereby can effectively correct the mechanical error of automated guided vehicle self, realize high accuracy punching.
In one embodiment, as shown in fig. 5, the step of performing compensation processing on the first current position coordinate according to the correction information, the characteristic angle information and the scale factor includes:
s502, determining a coordinate rotation angle corresponding to the auxiliary positioning equipment under a preset coordinate system according to the characteristic angle information.
Specifically, the controller may determine, according to the feature angle information of the automated guided vehicle, a coordinate rotation angle corresponding to the second current position coordinate, e.g., rotation angles θx, θy, θz corresponding to the X axis, the Y axis, and the Z axis in the preset coordinate system may be obtained respectively.
S504, acquiring an actual deviation value between the punching device and the auxiliary positioning equipment under a preset coordinate system based on the coordinate rotation angle and the correction information.
Specifically, the controller can calculate through an euler angle formula according to the coordinate rotation angle and the correction information, and acquire an actual deviation value between the punching device and the auxiliary positioning device of the automatic guided vehicle under a preset coordinate system.
And S506, performing compensation processing on the first current position coordinate based on the actual deviation value and the scaling factor.
Specifically, the controller can compensate the first current position coordinate according to the actual deviation value and the scaling factor, calculate the numerical value of the first moving component and the second moving component required to move, namely, the punching position compensation information reaching the required precision, complete precision compensation and improve the punching precision.
In the embodiment of the application, the actual deviation value of the automatic guided vehicle relative to the ground is obtained, the first current position coordinate is compensated based on the actual deviation value and the scaling factor, the punching precision of the automatic guided vehicle is further improved, and high-precision punching is achieved.
In one embodiment, the movement path is a path under an automated guided vehicle coordinate system; the automatic guided vehicle coordinate system comprises a first coordinate axis and a second coordinate axis which are perpendicular to each other; the step of indicating the auxiliary positioning equipment to move based on the movement path to determine the characteristic angle information corresponding to the automatic guided vehicle comprises the following steps:
The auxiliary positioning equipment is indicated to move along the first coordinate axis and the second coordinate axis based on the moving path, so that the current rotation angle of the automatic guided vehicle and the inclination angle of the automatic guided vehicle on the current ground are determined under the condition of relative preset coordinate systems;
and taking the current rotation angle and the inclination angle as characteristic angle information corresponding to the automatic guided vehicle.
Illustratively, the first coordinate axis may refer to an X-axis in an automated guided vehicle coordinate system and the second coordinate axis may refer to a Y-axis in the automated guided vehicle coordinate system.
Specifically, the controller can instruct the first moving assembly to move two unit distances first, and the second moving assembly to move one unit distance again, so as to drive the laser target ball to move, obtain corresponding moving position coordinates, and process the moving position coordinates to obtain the corner values (the current rotation angle of the automatic guided vehicle and the inclination angle of the automatic guided vehicle on the current ground) of the automatic guided vehicle relative to the preset coordinate system in three directions.
Note that, the unit distance may be set according to actual situations, and is not limited in the embodiment of the present application.
In the embodiment of the application, the current rotation angle of the automatic guided vehicle and the inclination angle of the automatic guided vehicle on the current ground are obtained, influences of all angles on punching precision are considered, and high-precision punching is achieved.
For ease of understanding to those skilled in the art, the steps of obtaining characteristic angle information are described below in connection with a specific example, wherein an AGV cart may be referred to as an automated guided vehicle.
Through the cooperation of laser target ball and laser tracker, guide AGV dolly moves to the position that satisfies certain precision range, as shown in FIG. 6, ground 1 corresponds coordinate system 1-1 (preset coordinate system), and AGV dolly current gesture corresponds coordinate system 1-2 (automatic guided vehicle coordinate system), acquires first current position coordinate (x 0, y0, z 0).
As shown in fig. 7, the laser target ball is moved to a position P1 along the positive direction of the X-axis in the coordinate system 1-2 by the first moving means, and the coordinates (X 1 ，y 1 ，z 1 ) Then moves to position P2 along the negative direction of X-axis in coordinate system 1-2, and obtains its coordinates (X 2 ，y 2 ，z 2 ) The laser target ball is moved to a position P3 along the positive direction of the Y axis in the coordinate system 1-2 by the second moving component, and the coordinate (x 3 ，y 3 ，z 3 ) Positions P1, P2 and P3 are shown in FIG. 6 in coordinate system 1-2.
As shown in fig. 8 and 9, rotating the coordinate system 1-2 around the Z-axis in the coordinate system 1-1 as the coordinate system 1-2' can obtain the Z-axis rotation angle (θz) as follows:
θz＝arctan[(y 2 -y 1 )/(x 2 -x 1 )]；
as shown in fig. 8 and 10, rotating the coordinate system 1-2' around the Y-axis in the coordinate system 1-1 to be the coordinate system 1-2″ can obtain the Y-axis rotation angle (θy) as follows:
θy＝arctan{(z 2 -z 1 )/[(x 2 -x 1 ) 2 +(y 2 -y 1 ) 2 ] 1/2 }
As shown in fig. 8 and 11, rotating the coordinate system 1-2 "around the X-axis in the coordinate system 1-1 to be parallel to the coordinate system 1-1, the X-axis rotation angle (θx) can be obtained according to the following formula:
θx＝arctan{(z 3 -z 2 )/cosθ y /[(x 3 -x 2 ) 2 +(y 3 -y 2 ) 2 +(z 3 -z 2 ) 2 ] 1/2 }
wherein, the X-axis rotation angle (thetax) and the Y-axis rotation angle (thetay) can be used for representing the current rotation angle of the automatic guided vehicle in the coordinate system 1-1, and the Z-axis rotation angle (thetaz) can be used for representing the inclination angle of the automatic guided vehicle on the current ground in the coordinate system 1-1.
In one embodiment, the automated guided vehicle coordinate system further comprises a third coordinate axis, the third coordinate axis being perpendicular to a plane in which the first coordinate axis and the second coordinate axis are located; outputting a punching instruction, wherein the punching instruction is used for indicating a punching device to punch, and the method comprises the following steps of:
the punching instruction is used for indicating the punching device to move along the third coordinate axis so as to complete punching.
For example, the third coordinate axis may refer to the Z-axis in the automated guided vehicle coordinate system.
Specifically, the controller may output a punching instruction, so as to instruct the third moving assembly to move along the negative direction of the Z axis in the coordinate system of the automatic guided vehicle, so as to drive the punching device to complete punching.
In this embodiment of the application, through instruct perforating device to remove in order to accomplish the punching along the third coordinate axis, be convenient for follow-up correct auxiliary positioning equipment and perforating device, realize high accuracy punching.
For the convenience of understanding of those skilled in the art, the steps for obtaining correction information will be described below in connection with a specific example:
the controller can set the punching device according to a preset deviation value, and under the condition that the characteristic angle information is obtained, the controller obtains a second current position coordinate (x 4 ，y 4 ，z 4 )；
After the electric drill bit has completed punching, the lower end of the hole measuring tool is inserted into the hole, and then a laser target ball is placed on the upper end of the hole measuring tool to obtain hole position coordinates (x 5 ，y 5 ，z 5 )；
Using vector operations, correction information in the coordinate system 1-1 shown in fig. 6 is calculated as follows:
(ΔX’，ΔY’，ΔZ’)＝(x 5 -x 4 ，y 5 -y 4 ，z 5 -z 4 )·R
where R is a rotation matrix, θx, θy, and θz may represent characteristic angle information.
The above deviation correction is performed only once, and then is set in the controller, and if the electric drill is replaced, the correction is performed once again after the replacement is completed.
In one embodiment, the step of obtaining the corresponding scale factor according to the moving path includes:
obtaining a corresponding moving distance of the auxiliary positioning equipment under an automatic guided vehicle coordinate system based on the moving path;
and processing the moving distance through a preset calculation formula to obtain a scale factor.
Specifically, the controller may obtain corresponding movement position coordinates and movement distances under the condition that the auxiliary positioning device completes movement based on the movement path, and obtain corresponding numerical scale factors actually moving along the first coordinate axis and along the second coordinate axis according to the movement position coordinates, the movement distances and a preset calculation formula.
In the embodiment of the application, the automatic guided vehicle is subjected to precision compensation by acquiring the scale factors, so that high-precision punching is realized.
For ease of understanding to those skilled in the art, the accuracy compensation method is described below in connection with a specific example:
the correction is completed based on the correction information, and the characteristic angle information is obtained, and these two steps are described above and are not described here.
Acquiring numerical scale factors (K) of corresponding actual X-direction and Y-direction movements when the first moving component and the second moving component move by distances DX and DY respectively under an automatic guided vehicle coordinate system xx 、K xy 、K yx 、K yy ) The following formula (preset calculation formula) is shown:
K xx ＝(x 2 -x 1 )/DX
K xy ＝(y 2 -y 1 )/DX
K yx ＝(x 3 -x 2 )/DY
K yy ＝(y 3 -y 2 )/DY
as shown in fig. 6, DX may represent a point (x 1 ，y 1 ，z 1 ) Move to (x) 2 ，y 2 ，z 2 ) DY is the distance of the point (x 2 ，y 2 ，z 2 ) Move to (x) 3 ，y 3 ，z 3 ) Is a distance of (3).
Calculating an actual deviation value in a coordinate system 1-1 under the current gesture of the AGV:
(ΔX，ΔY，ΔZ)＝(ΔX’，ΔY’，ΔZ’)·R’
Wherein R' is the inverse rotation matrix of the rotation matrix R.
The target coordinates (x, y) punched according to the requirements are represented by the following relation:
x＝x 0 +ΔX+K xx ·X+K yx ·Y
y＝y 0 +ΔY+K xy ·X+K yy ·Y
the movement compensation amounts X, Y (punching position compensation information) of the first moving assembly and the second moving assembly are obtained.
The movement compensation amount X, Y is sent to a movement controller to control the movement amount of the AGV trolley, so that the precision compensation can be completed; by the device and the method, high-precision punching can be realized.
For ease of understanding to those skilled in the art, the controller is described below in connection with one specific example:
as shown in fig. 12, the controller may include a rotation angle calculating unit, a deviation correcting unit, an accuracy compensating unit and a movement control unit, where the rotation angle calculating unit is used to determine a current inclination angle (characteristic angle information) corresponding to a preset coordinate system after the AGV trolley completes movement, the deviation correcting unit is used to calculate XYZ three-way deviation of the laser target ball and the electric drill under the preset coordinate system so as to correct the XYZ three-way deviation, and the accuracy compensating unit is used to calculate compensation amounts (punching position compensation information) of the electric drill required to move in X and Y directions after the AGV trolley completes movement, and then send the compensation amounts to the movement control unit so as to control movement of the first movement assembly and the second movement assembly, and finally move the electric drill in place, thereby realizing high-accuracy punching.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a precision compensation device for realizing the precision compensation method. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitation in one or more embodiments of the precision compensation device provided below may be referred to the limitation of the precision compensation method hereinabove, and will not be repeated herein.
In one embodiment, as shown in fig. 13, there is provided an accuracy compensating apparatus 1300 for use with a controller of an automated guided vehicle, the automated guided vehicle being provided with an auxiliary positioning device, the auxiliary positioning device being coupled to the controller; the device comprises:
the punching information receiving module 1301 is configured to receive a target coordinate corresponding to a target punching position under a preset coordinate system;
the coordinate determining module 1302 is configured to instruct the automatic guided vehicle to move according to the target coordinate, and obtain a first current position coordinate corresponding to the auxiliary positioning device under a preset coordinate system;
the rotation angle calculation module 1303 is configured to obtain a movement path of the auxiliary positioning device relative to the automatic guided vehicle, and instruct the auxiliary positioning device to move based on the movement path so as to determine characteristic angle information corresponding to the automatic guided vehicle;
a scale factor obtaining module 1304, configured to obtain a corresponding scale factor according to the movement path;
the punching position compensation module 1305 is configured to perform compensation processing on the first current position coordinate according to the feature angle information and the scaling factor to obtain punching position compensation information, where the punching position compensation information is used to instruct the automated guided vehicle to move to the target punching position.
In one embodiment, the automatic guided vehicle is further provided with a punching device, and the punching device is connected with the controller; the punching position compensation module 1305 is further configured to obtain a second current position coordinate corresponding to the auxiliary positioning device under a preset coordinate system;
Outputting a punching instruction, wherein the punching instruction is used for instructing a punching device to punch holes and obtaining corresponding hole position coordinates under a preset coordinate system; determining correction information corresponding to the automated guided vehicle based on the second current position coordinates, the hole position coordinates and the characteristic angle information;
and carrying out compensation processing on the first current position coordinate according to the correction information, the characteristic angle information and the scale factor.
In one embodiment, the punching position compensation module 1305 is further configured to determine a coordinate rotation angle corresponding to the auxiliary positioning device under a preset coordinate system according to the feature angle information;
and determining correction information according to the coordinate rotation angle, the second current position coordinate and the hole position coordinate, wherein the correction information is used for correcting deviation between the auxiliary positioning equipment and the punching device.
In one embodiment, the punching position compensation module 1305 is further configured to determine a coordinate rotation angle corresponding to the auxiliary positioning device under a preset coordinate system according to the feature angle information;
acquiring an actual deviation value between the punching device and the auxiliary positioning equipment under a preset coordinate system based on the coordinate rotation angle and the correction information;
and carrying out compensation processing on the first current position coordinate based on the actual deviation value and the scaling factor.
In one embodiment, the movement path is a path under an automated guided vehicle coordinate system; the automatic guided vehicle coordinate system comprises a first coordinate axis and a second coordinate axis which are perpendicular to each other; the rotation angle calculation module 1303 is further configured to instruct the auxiliary positioning device to move along the first coordinate axis and the second coordinate axis based on the movement path, so as to determine a current rotation angle of the automatic guided vehicle and an inclination angle of the automatic guided vehicle on the current ground under the condition of relative to a preset coordinate system;
and taking the current rotation angle and the inclination angle as characteristic angle information corresponding to the automatic guided vehicle.
In one embodiment, the automated guided vehicle coordinate system further comprises a third coordinate axis, the third coordinate axis being perpendicular to a plane in which the first coordinate axis and the second coordinate axis are located; the punching position compensation module 1305 is further configured to instruct the punching device to move along the third coordinate axis to complete the punching.
In one embodiment, the scale factor obtaining module 1304 is further configured to obtain a corresponding movement distance of the auxiliary positioning device under the automatic guided vehicle coordinate system based on the movement path;
and processing the moving distance through a preset calculation formula to obtain a scale factor.
The modules in the precision compensation device can be realized in whole or in part by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a controller is provided, which may be a server, the internal structure of which may be as shown in fig. 14. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store characteristic angle information and scale factors. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a precision compensation method.
It will be appreciated by those skilled in the art that the structure shown in fig. 13 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
Based on the same inventive concept, the embodiment of the application also provides a punching system for realizing the precision compensation method, which comprises the controller, an automatic guiding vehicle, an auxiliary positioning device, a punching device, an upper computer device and a laser tracker which are respectively connected with the controller,
the upper computer equipment is used for acquiring target coordinates corresponding to the target punching position under a preset coordinate system and sending the target coordinates to the controller;
the laser tracker is used for tracking the auxiliary positioning equipment and collecting a first current position coordinate corresponding to the auxiliary positioning equipment under a preset coordinate system in real time;
a controller for receiving the target coordinates; controlling the automatic guided vehicle to move according to the target coordinate, and acquiring a first current position coordinate corresponding to the auxiliary positioning equipment under a preset coordinate system; acquiring a moving path of the auxiliary positioning equipment relative to the automatic guided vehicle, and indicating the auxiliary positioning equipment to move based on the moving path so as to determine the characteristic angle information corresponding to the automatic guided vehicle; acquiring a corresponding scale factor according to the moving path; and carrying out compensation processing on the first current position coordinate according to the characteristic angle information and the scale factor to obtain punching position compensation information, wherein the punching position compensation information is used for indicating the automatic guided vehicle to move to the target punching position.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor implements the above-described accuracy compensation method.
In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, implements the above-described accuracy compensation method.
It should be noted that, the location information (including, but not limited to, the first current location coordinate, the hole location coordinate, etc.) and the data (including, but not limited to, the data for analysis, the stored data, the displayed data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
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| CN202310800936.1A CN116859920B (en) | 2023-07-03 | 2023-07-03 | Accuracy compensation method and device, electronic equipment and drilling system |
| PCT/CN2023/143572 WO2025007533A1 (en) | 2023-07-03 | 2023-12-29 | Accuracy compensation method and apparatus, and electronic device and drilling system |
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| CN116859920B (en) * | 2023-07-03 | 2024-03-26 | 广州明珞装备股份有限公司 | Accuracy compensation method and device, electronic equipment and drilling system |
| CN119036469B (en) * | 2024-10-18 | 2025-04-01 | 广东电网能源发展有限公司 | Adaptive compensation method for punching error of cable pit robot |
| CN119141314B (en) * | 2024-11-19 | 2025-01-14 | 佛山市顺德区东亚汽车部件有限公司 | Hole milling equipment for sound installation holes of automobile tail door inner decorative plate |
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