阅读说明：本技术 机械手流水线式工件三维扫描及增材修补装置、方法 (Manipulator assembly line type workpiece three-dimensional scanning and additive repairing device and method ) 是由 杨海马 张鹏程 杨萍 梁旭东 张大伟 刘瑾 李筠 袁宝龙 于 2019-10-12 设计创作，主要内容包括：本发明提出了一种机械手流水线式工件三维扫描及增材修补装置,包括：检测加工环形轨道、检测机械手模块、增补机械手模块、水平直达轨道、卸料区、装料区、全向轮载物台、模式识别探测器、环形模式标记线、直线模式标记线、位姿调整模块和控制器。本发明的工作现场无需人工干预,各环节设备按照统一加工流程自动运转,实现高价值工件三维扫描和加工修补工作的进行,实现了修补流程连续化、自动化,并显著提高工作效率。本发明提出了一种机械手流水线式工件三维扫描及增材修补方法。(The invention provides a manipulator assembly line type workpiece three-dimensional scanning and additive repairing device, which comprises: the device comprises a detection processing annular track, a detection manipulator module, an additional manipulator module, a horizontal direct track, a discharging area, a loading area, an omnidirectional wheel objective table, a mode identification detector, an annular mode marking line, a linear mode marking line, a pose adjusting module and a controller. The invention has the advantages that the working site does not need manual intervention, equipment in each link automatically operates according to a unified processing flow, the high-value workpiece three-dimensional scanning and processing and repairing work are realized, the continuity and automation of the repairing flow are realized, and the working efficiency is obviously improved. The invention provides a manipulator assembly line type workpiece three-dimensional scanning and additive repairing method.)

1. The utility model provides a manipulator pipelined work piece three-dimensional scanning and vibration material disk patching device which characterized in that includes: the device comprises a detection processing annular track, a detection manipulator module, an additional manipulator module, a horizontal through track, a discharging area, a loading area, an omnidirectional wheel objective table, a mode identification detector, an annular mode marking line, a linear mode marking line, a pose adjusting module and a controller;

wherein, a detection scanning area and an augmentation area are arranged on the detection processing annular track; the detection manipulator module and the supplementary manipulator module are respectively arranged in the detection scanning area and the supplementary area;

the outer side of the detection processing annular track is respectively communicated with the inner side of the loading area and the inner side of the unloading area; the inner side of the detection processing annular track is communicated with two ends of the horizontal through track;

the annular mode marking line is arranged along the detection processing annular track; the straight line mode marking line is arranged on the horizontal through track; the pattern recognition detector recognizes an annular pattern mark line and a linear pattern mark line; a part of the mode identification detector and the pose adjusting module are fixed on the omnidirectional wheel object stage; the pose adjusting module positions the omnidirectional wheel object stage;

the omnidirectional wheel objective table enters a loading area, enters a detection scanning area along an annular mode marking line and then enters an unloading area along a linear mode marking line or the omnidirectional wheel objective table enters the loading area and sequentially enters the detection scanning area and the unloading area along the annular mode marking line;

the controller is respectively in signal connection with the omnidirectional wheel object stage, the detection manipulator module, the supplementary manipulator module and the pose adjusting module.

2. The robot assembly line type workpiece three-dimensional scanning and additive repairing device according to claim 1, wherein the pose adjusting module comprises a positioning hole, a horizontal positioning mark, a vertical positioning mark, a beam splitter and a camera;

the horizontal positioning mark, the positioning hole and the vertical positioning mark are sequentially arranged from outside to inside; the horizontal positioning mark, the positioning hole and the vertical positioning mark are all arranged in the loading area, the unloading area, the detection scanning area and the supplement area;

the vertical positioning mark is higher than the horizontal positioning mark;

the positioning hole is formed in a safety boundary wall; the positioning hole is a through hole;

the light splitter and the camera are fixed on the omnidirectional wheel object stage; the light splitter and the camera are arranged in sequence from the vertical positioning mark to the outside.

3. The robotic pipelined workpiece three-dimensional scanning and additive repair device of claim 2, wherein the inspection robot module comprises a first robot and a three-dimensional scanning device; the three-dimensional scanning device is mounted on the first manipulator.

4. The robot-based pipelined workpiece three-dimensional scanning and additive repair apparatus of claim 3 wherein the supplemental robot module comprises a second robot and a supplemental device; the supplement device is mounted on the second manipulator.

5. The robot-based pipelined three-dimensional workpiece scanning and additive repairing apparatus of claim 4, wherein the front ends of the first and second robots are each mounted with a range finder.

6. The robot-based pipelined three-dimensional workpiece scanning and additive repairing apparatus of claim 2, wherein the omnidirectional wheel-mounted stage comprises a support body, a turntable, a wheel and a control board; the rotating wheel is arranged at the bottom of the supporting main body; the turntable is disposed on an upper surface of the support main body.

7. A workpiece three-dimensional scanning and material increase repairing method based on a manipulator assembly line is characterized by comprising the following steps:

step S101: the omnidirectional wheel object stage reaches a feeding area, the position is automatically adjusted by applying a pose adjusting method, and then the material is loaded;

step S102: the omnidirectional wheel object stage feeds back a signal to the control device, the mode identification detector identifies an annular mode marking line, and the control device drives the omnidirectional wheel object stage to enter a detection scanning area along the annular mode marking line;

step S103: the omnidirectional wheel objective table performs position self-adjustment;

step S104: the omnidirectional wheel object stage feeds back signals to the controller, and the controller drives the detection manipulator module to perform three-dimensional scanning on the materials;

step S105: the controller receives the three-dimensional scanning data and judges whether the three-dimensional scanning data is qualified, if not, the step S106 is carried out, and if so, the step S110 is carried out; meanwhile, the controller sends a corresponding scheduling command to the universal wheel object stage;

step S106: the mode identification detector identifies an annular mode marking line, and the omnidirectional wheel carrying platform enters an augmentation area along a detection processing annular track;

step S107: the omnidirectional wheel objective table performs position self-adjustment;

step S108: the omnidirectional wheel objective table feeds back signals to the controller, and the controller drives the supplementary manipulator module to perform material increase processing on the material;

step S109: the pattern recognition detector recognizes an annular pattern marking line, and the omnidirectional wheel-mounted object table enters the detection scanning area again along the detection processing annular track to execute the step S103 again;

step S110: the mode identification detector identifies a straight mode marking line, and the omnidirectional wheel-mounted object table enters an unloading area along a horizontal direct track;

step S111: the omnidirectional wheel objective table performs position self-adjustment;

step S112: and the pattern recognition detector recognizes an annular pattern marking line, the omnidirectional wheel carrying platform enters a loading area along the detection processing annular track, and the step S101 is executed.

8. The method for robot-based pipelined three-dimensional scanning and additive repair of a workpiece according to claim 7, wherein the position and orientation adjustment method is specifically: a beam of light passes through the vertical positioning mark and the positioning hole in sequence and then passes through the light splitter to form an image on the camera; a beam of light passes through the horizontal positioning mark, is reflected at the beam splitter and is imaged on the camera; the universal wheel stage is self-adjusting so that the images coincide to complete pose positioning.

Technical Field

The invention belongs to the field of additive manufacturing, and particularly relates to a manipulator assembly line type workpiece three-dimensional scanning and additive repairing device and method.

Background

In the field of aerospace, marine, rail and complete power plant manufacturing, precision inspection and necessary defect repair work for high-value workpieces are required. The conventional scheme is manual detection, defect judgment and welding repair, the working process is complicated, the period is long, and the measurement and repair precision is low. With the development of three-dimensional scanning and additive manufacturing technologies, a high-value workpiece is subjected to three-dimensional scanning by a laser profiler, a three-dimensional model of the workpiece is formed after point cloud reconstruction, online defect detection and additive repair path planning of the high-value workpiece are realized after data comparison processing, and finally repair work of a defect part is completed by additive equipment, so that the high-value workpiece is recycled.

However, in the prior art, the following defects exist in the aspect of the additive repair work of high-value workpieces: 1) the patent CN108534707A describes a method for scanning and detecting workpieces on a large scale in industrial manufacturing, a manual handheld scanner is adopted to scan the workpieces, a track tracking system is used for recording and processing the moving track of the scanner to optimize the scanning path of a mechanical arm, the whole method needs manual operation, the scanning and detecting processes are discontinuous, and the working efficiency is low; 2) CN107932915A discloses an automatic robot additive manufacturing assembly line control system, which designs a forming device, a cleaning device, an air drying device and a curing device, and cooperates with a mechanical arm to carry out automatic additive manufacturing, thereby solving the problems of low manual efficiency and misoperation, but lacking the three-dimensional contour scanning imaging function and being incapable of carrying out online repair detection on workpieces; 3) patent CN107972557A proposes a field-moving laser additive repair device based on vehicle transportation, which can improve the demand of field additive repair by installing the laser additive repair device in a vehicle, but when a large number of workpieces need to be repaired and manufactured, continuous operation is not easy to be performed, and the time consumption is long.

Disclosure of Invention

The invention aims to provide a manipulator assembly line type workpiece three-dimensional scanning and additive repairing device and method, which enable the repairing process to be continuous and automatic and obviously improve the working efficiency. In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a manipulator assembly line type workpiece three-dimensional scanning and additive repairing device, which comprises: the device comprises a detection processing annular track, a detection manipulator module, an additional manipulator module, a horizontal through track, a discharging area, a loading area, an omnidirectional wheel objective table, a mode identification detector, an annular mode marking line, a linear mode marking line, a pose adjusting module and a controller;

wherein, a detection scanning area and an augmentation area are arranged on the detection processing annular track; the detection manipulator module and the supplementary manipulator module are respectively arranged in the detection scanning area and the supplementary area;

the outer side of the detection processing annular track is respectively communicated with the inner side of the loading area and the inner side of the unloading area; the inner side of the detection processing annular track is communicated with two ends of the horizontal through track;

the annular mode marking line is arranged along the detection processing annular track; the straight line mode marking line is arranged on the horizontal through track; the pattern recognition detector recognizes an annular pattern mark line and a linear pattern mark line; a part of the mode identification detector and the pose adjusting module are fixed on the omnidirectional wheel object stage; the pose adjusting module positions the omnidirectional wheel object stage;

the omnidirectional wheel objective table enters a loading area, enters a detection scanning area along an annular mode marking line and then enters an unloading area along a linear mode marking line or the omnidirectional wheel objective table enters the loading area and sequentially enters the detection scanning area and the unloading area along the annular mode marking line;

the controller is respectively in signal connection with the omnidirectional wheel object stage, the detection manipulator module, the supplementary manipulator module and the pose adjusting module.

Preferably, the pose adjusting module comprises a positioning hole, a horizontal positioning mark, a vertical positioning mark, a beam splitter and a camera;

the horizontal positioning mark, the positioning hole and the vertical positioning mark are sequentially arranged from outside to inside; the horizontal positioning mark, the positioning hole and the vertical positioning mark are all arranged in the loading area, the unloading area, the detection scanning area and the supplement area;

the vertical positioning mark is higher than the horizontal positioning mark;

the positioning hole is formed in a safety boundary wall; the positioning hole is a through hole;

the light splitter and the camera are fixed on the omnidirectional wheel object stage; the light splitter and the camera are arranged in sequence from the vertical positioning mark to the outside.

Preferably, the inspection robot module includes a first robot and a three-dimensional scanning device; the three-dimensional scanning device is mounted on the first manipulator.

Preferably, the supplementary manipulator module comprises a second manipulator and a supplementary device; the supplement device is mounted on the second manipulator.

Preferably, distance measuring instruments are installed at the front ends of the first manipulator and the second manipulator.

Preferably, the omni-directional wheel loading platform comprises a supporting body, a rotary platform, a rotary wheel and a control panel; the rotating wheel is arranged at the bottom of the supporting main body; the turntable is disposed on an upper surface of the support main body.

The invention also provides a manipulator-based production line type workpiece three-dimensional scanning and additive repairing method, which comprises the following steps:

step S101: the omnidirectional wheel object stage reaches a feeding area, the position is automatically adjusted by applying a pose adjusting method, and then the material is loaded;

step S102: the omnidirectional wheel object stage feeds back a signal to the control device, the mode identification detector identifies an annular mode marking line, and the control device drives the omnidirectional wheel object stage to enter a detection scanning area along the annular mode marking line;

step S103: the omnidirectional wheel objective table performs position self-adjustment;

step S104: the omnidirectional wheel object stage feeds back signals to the controller, and the controller drives the detection manipulator module to perform three-dimensional scanning on the materials;

step S105: the controller receives the three-dimensional scanning data and judges whether the three-dimensional scanning data is qualified, if not, the step S106 is carried out, and if so, the step S110 is carried out; meanwhile, the controller sends a corresponding scheduling command to the universal wheel object stage;

step S106: the mode identification detector identifies an annular mode marking line, and the omnidirectional wheel carrying platform enters an augmentation area along a detection processing annular track;

step S107: the omnidirectional wheel objective table performs position self-adjustment;

step S108: the omnidirectional wheel objective table feeds back signals to the controller, and the controller drives the supplementary manipulator module to perform material increase processing on the material;

step S109: the pattern recognition detector recognizes an annular pattern marking line, and the omnidirectional wheel-mounted object table enters the detection scanning area again along the detection processing annular track to execute the step S103 again;

step S110: the mode identification detector identifies a straight mode marking line, and the omnidirectional wheel-mounted object table enters an unloading area along a horizontal direct track;

step S111: the omnidirectional wheel objective table performs position self-adjustment;

step S112: and the pattern recognition detector recognizes an annular pattern marking line, the omnidirectional wheel carrying platform enters a loading area along the detection processing annular track, and the step S101 is executed.

Preferably, the position and posture adjusting method specifically comprises the following steps: a beam of light passes through the vertical positioning mark and the positioning hole in sequence and then passes through the light splitter to form an image on the camera; a beam of light passes through the horizontal positioning mark, is reflected at the beam splitter and is imaged on the camera; the universal wheel stage is self-adjusting so that the images coincide to complete pose positioning.

Compared with the prior art, the invention has the advantages that:

1) the assembly line operation system is adopted to divide the working area into four areas of unloading, loading, detecting and scanning and supplementing, and an omnidirectional wheel objective table is selected, so that the scheduling process of the whole system becomes continuous and efficient;

2) the controller with the wireless communication function reasonably schedules the whole situation, so that the system can well process large-scale workpiece scanning detection and material supplement work;

3) and a positioning mode based on machine vision is adopted, the accuracy is high, the real-time performance is good, the self-adjustment of the position and posture of the object stage can be completed in a short time through the four-drive omnidirectional wheel, and the real-time precision of the processing operation procedure of the supplementary manipulator module is ensured.

Drawings

Fig. 1 is a schematic structural diagram of a robot assembly line type workpiece three-dimensional scanning and additive repairing apparatus according to an embodiment of the present invention;

FIG. 2 is a flowchart of a robot assembly line type workpiece three-dimensional scanning and additive repairing method according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of positioning in the pose adjusting method;

figure 4 is a schematic view of the first robot of figure 1 operating on material on the omni-wheel stage.

Wherein, 1-a discharging area, 2-a loading area, 3-a detection scanning area, 4-an augmentation area, 5-a first mechanical arm, 6-a three-dimensional scanning device, 6 a-a contourgraph, 6 b-a laser triangulation distance meter, 7-a second mechanical arm, 8-an augmentation device, 9-a controller, 10-an omnidirectional wheel object stage, 10 a-a support body, 10 b-a rotary table, 10 c-a rotary wheel, 10 d-a control panel, 11-a tracking mode marking line, 11 a-a straight line mode marking line, 11 b-a ring mode marking line, 12-a bus, 13-a safety boundary wall, 14-a pose adjusting module, 14 a-a camera, 14 b-a beam splitter, 14 c-a positioning hole and 14 d-a vertical positioning mark, 14 e-horizontal alignment marker, 15-pattern recognition detector, 16-first optical path, 17-second optical path.

Detailed Description

The robot-pipelined three-dimensional workpiece scanning and additive repair apparatus and method of the present invention will now be described in greater detail with reference to the schematic drawings, in which preferred embodiments of the present invention are shown, it being understood that one skilled in the art could modify the invention described herein while still achieving the advantageous results of the present invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.

As shown in fig. 1, a robot assembly line type workpiece three-dimensional scanning and additive repairing apparatus includes: the device comprises a detection processing annular track, a detection manipulator module, an additional manipulator module, a horizontal direct track, a discharging area 1, a loading area 2, an omnidirectional wheel objective table 10, a mode identification detector 15, an annular mode marking line 11b (a dotted line), a linear mode marking line 11a (a solid line), a pose adjusting module 14 and a controller 9. The circular pattern mark line 11b (broken line) and the straight pattern mark line 11a constitute the circulation pattern trajectory line 11.

The detection processing annular track is divided into a detection scanning area 3 and an augmentation area 4; the detection manipulator module and the supplementary manipulator module are respectively arranged in the detection scanning area 3 and the supplementary area 4.

The outer side of the detection processing annular track is respectively communicated with the inner side of the loading area 2 and the inner side of the unloading area 1; and the inner side of the detection processing annular track is communicated with the two ends of the horizontal direct track.

The annular pattern mark line 11b is provided along the detection processing annular track; the straight mode marking line 11a is arranged on the horizontal through track; the pattern recognition probe 15 recognizes the circular pattern mark line 11b and the straight pattern mark line 11 a; a pattern recognition detector 15 and a part of a pose adjustment module 14 are fixed on the omnidirectional wheel stage 10; the pose adjustment module 14 positions the omni-wheel stage 10.

The omnidirectional wheel object stage 10 enters the loading area 2, enters the detection scanning area 3 along the annular mode marking line 11b, then enters the unloading area 1 along the linear mode marking line 11a or the omnidirectional wheel object stage 10 enters the loading area 2, and sequentially enters the detection scanning area 3 and the unloading area 1 along the annular mode marking line 11 b.

The controller 9 is respectively in signal connection with the omnidirectional wheel object stage 10, the detection manipulator module, the supplementary manipulator module and the pose adjusting module 14.

As shown in fig. 1, 3, and 4, the posture adjustment module 14 includes a positioning hole 14c, a horizontal positioning mark 14e, a vertical positioning mark 14d, a beam splitter 14b, and a camera 14 a;

wherein, the horizontal positioning mark 14e, the positioning hole 14c and the vertical positioning mark 14d are arranged from outside to inside in sequence; the horizontal positioning mark 14e, the positioning hole 14c and the vertical positioning mark 14d are all arranged in the loading area 2, the unloading area 1, the detection scanning area 3 and the supplement area 4;

the vertical positioning mark 14d is higher than the horizontal positioning mark 14 e; the horizontal positioning mark 14e is arranged on the horizontal ground, the vertical positioning mark 14d is arranged on the wall surface or the base of the robot arm, and the horizontal positioning mark 14e and the vertical positioning mark 14d can be identification patterns such as a solid circle center with a circular ring.

The positioning hole 14c is provided on the safety boundary wall 13 near the robot; the positioning hole 14c is a through hole;

the beam splitter 14b and camera 14a are fixed to the omni-wheel stage 10; the beam splitter 14b and the camera 14a are arranged in this order from the vertical positioning mark 14 d.

In addition, the safety boundary wall 13 plans the working interval of the omnidirectional wheel object stage, and guarantees the safety and reliability of the object stage in two tracking modes for transporting workpieces.

As shown in fig. 4, the inspection robot module includes a first robot 5 and a three-dimensional scanning device 6; a three-dimensional scanning device 6 is mounted on the first robot arm 5, and the three-dimensional scanning device 6 is provided with a profiler 6a and a laser triangulation distance meter 6 b. The first manipulator 5 has six degrees of freedom. The supplement manipulator module comprises a second manipulator 7 and a supplement device 8; the augmenting device 8 is mounted on the second robot arm 7. The first manipulator 5 and the second manipulator 7 are respectively arranged in the direction with the included angle of the horizontal track of +/-135 degrees, and the two manipulators are connected with a controller 9 with a WIFI function in the middle through a communication bus 12.

In this embodiment, distance measuring instruments are installed at the front ends of the first manipulator 5 and the second manipulator 7 so as to control the distance between the front ends of the manipulators and a workpiece (material) in real time, and the distance between the front ends of the manipulators and the workpiece (material) is kept at a safe distance by applying feedback control to the manipulators. The robot control system includes a proportional controller 9, an integral controller 9, and a derivative controller 9 to control the X-axis, Y-axis, and Z-axis movements of the robot hand more precisely.

As shown in fig. 4, the omni-wheel stage 10 includes a support body 10a, a turntable 10b, a wheel 10c, and a control board 10 d; the runner 10c is provided at the bottom of the support body 10 a; the turntable 10b is provided on the upper surface of the support body 10 a. The rotating wheel 10c is a four-wheel drive Mackelem wheel, and the control panel 10d has a WIFI function. In the embodiment, the omni-directional wheel carrier 10 is an AGV trolley developed autonomously, and the vehicle body can refer to a Shenzhen Youwangte UA32-TM3-CH2 type vehicle body; the first manipulator and the second manipulator 7 are IRB6700-2056 shaft manipulators of ABB company; the laser profile instrument model is LJ-V7000 of Kenzhi; the supplement device 8 is a DED metal powder or a metal wire melting gun, and tungsten powder, stainless steel powder and the like can be selected as required. The pattern recognition detector 15 (photoelectric detection sensor), the controller 9 system and the like are conventional models.

The working principle of cooperation among the omnidirectional wheel object stage 10, the detection manipulator module, the controller 9 and the pose adjusting module 14 is as follows: when the camera 14a in the system pose adjustment module 14 detects one positioning mark, the mackelem wheels are controlled to move transversely until two positioning marks are detected, and then the four mackelem wheels are controlled to perform micro-motion until the two positioning marks are overlapped to complete positioning. After the positioning is completed, the embedded control panel 10d communicates with the controller 9 through the WIFI, and the controller 9 controls the first robot hand to detect the material through the three-dimensional scanning device 6. Data detected by the first robot hand are returned to the controller 9 in real time through the bus 12, the data comprise contour instrument returned shape data and distance information returned by the laser triangulation distance meter, and the controller 9 controls the postures of the X axis, the Y axis and the Z axis of the robot hand through the distance information feedback to avoid the error collision of the contour instrument on a workpiece. After the detection is completed, the controller 9 compares the three-dimensional scanned data with a standard library, judges whether the workpiece needs additive processing, and sends a scheduling command to the omnidirectional wheel object stage 10 through the WIFI. In addition, self-alignment of the attitude is required before the omni-wheel stage 10 enters the 4 work zones to ensure that the position of the workpiece remains consistent between pre-inspection scanning and supplemental processing.

As shown in fig. 2, the present embodiment further provides a robot-based pipelined workpiece three-dimensional scanning and additive repairing method, which includes steps S101 to S112, and specifically includes the following steps:

step S101: the omnidirectional wheel object stage 10 reaches a feeding area, the position is automatically adjusted by applying a pose adjusting method, and then the material is loaded;

step S102: after the omnidirectional wheel object stage 10 finishes loading, the omnidirectional wheel object stage 10 feeds back a signal to the control device, meanwhile, the mode identification detector 15 identifies the annular mode marking line 11b, and the control device drives the omnidirectional wheel object stage 10 to enter the detection scanning area 3 along the annular mode marking line 11 b;

step S103: the omni-directional wheel object stage 10 performs position self-adjustment;

step S104: the omnidirectional wheel object stage 10 feeds back signals to the controller 9 through WIFI, and the controller 9 drives the detection manipulator module to perform three-dimensional scanning on the materials;

step S105: the controller 9 receives the three-dimensional scanning data and judges whether the three-dimensional scanning data is qualified, if not, the step S106 is performed, and if so, the step S110 is performed; meanwhile, the controller 9 sends a corresponding scheduling command to the universal wheel object stage;

step S106: the pattern recognition detector 15 recognizes the annular pattern mark line 11b, and the omnidirectional wheel object stage 10 enters the supplementary area 4 along the detection processing annular track;

step S107: the omni-directional wheel object stage 10 performs position self-adjustment;

step S108: the omnidirectional wheel object stage 10 feeds back signals to the controller 9, and the controller 9 drives the supplementary manipulator module to perform material increase processing on the material;

step S109: the pattern recognition detector 15 recognizes the annular pattern mark line 11b, and the omni-wheel stage 10 enters the detection scanning area 3 again along the detection processing annular track to perform step S103 again;

step S110: the pattern recognition detector 15 recognizes a straight pattern marking line 11a, and the omnidirectional wheel object stage 10 enters the unloading area 1 along a horizontal direct track;

step S111: the omni-directional wheel object stage 10 performs position self-adjustment;

step S112: the pattern recognition probe 15 recognizes the circular pattern mark line 11b, the omni-wheel stage 10 enters the loading space 2 along the detection processing circular orbit, and step S101 is performed.

In this embodiment, the position and posture adjustment method specifically includes: a beam of light passes through the vertical positioning mark 14d and the positioning hole 14c in sequence, and then passes through the beam splitter 14b to form an image on the camera 14a to form a first light path 16; one light ray passes through the horizontal positioning mark 14e, is reflected at the beam splitter 14b, and is imaged on the camera 14a to form a second light path 17; the universal wheel object stage is self-adjusted, so that imaging is overlapped to complete pose positioning.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.