CN110587992A - Article attaching method, device and computer-readable storage medium - Google Patents

Article attaching method, device and computer-readable storage medium Download PDF

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Publication number
CN110587992A
CN110587992A CN201910840046.7A CN201910840046A CN110587992A CN 110587992 A CN110587992 A CN 110587992A CN 201910840046 A CN201910840046 A CN 201910840046A CN 110587992 A CN110587992 A CN 110587992A
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Prior art keywords
article
reference line
offset
determining
attaching
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CN201910840046.7A
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CN110587992B (en
Inventor
钟石明
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Shenzhen Julifang Vision Technology Co Ltd
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Shenzhen Julifang Vision Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K3/00—Apparatus or processes for manufacturing printed circuits
    • H05K3/0008—Apparatus or processes for manufacturing printed circuits for aligning or positioning of tools relative to the circuit board
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30141—Printed circuit board [PCB]

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Geometry (AREA)
  • Mechanical Engineering (AREA)
  • Labeling Devices (AREA)

Abstract

The invention discloses a method for attaching an article, which comprises the following steps: acquiring an image acquired by an image acquisition module, and identifying the type of a jointed article in the image; determining a fitting mode corresponding to the type, and determining a target article in a fitting article and a fitted article according to the fitting mode; determining a reference position of the target object, and determining the offset of the target object according to the reference position; after the position of the target object is adjusted according to the offset, at least one of a gluing object and a glued object is controlled to move, so that the gluing object and the glued object are glued. The invention also discloses a fitting device of the article and a computer readable storage medium. The invention improves the quality of the attached articles.

Description

Article attaching method, device and computer-readable storage medium
Technical Field
The invention relates to the technical field of a fitting process, in particular to a fitting method and device of an article and a computer readable storage medium.
Background
The lamination is a calendering method in which two or more layers of thin films of the same or different types are laminated to form an integral film having a large thickness, or a method in which the surface of one article is laminated to the surface of another article.
At present, most of the fitting between articles is manually performed, and manual fitting is determined through human eyes, so that errors exist more or less, and the quality of a product obtained through fitting is poor.
Disclosure of Invention
The invention mainly aims to provide a method and a device for attaching an article and a computer-readable storage medium, and aims to solve the problem of poor quality of the attached product.
In order to achieve the above object, the present invention provides a method for attaching an article, including the steps of:
acquiring an image acquired by an image acquisition module, and identifying the type of a jointed article in the image;
determining a fitting mode corresponding to the type, and determining a target article in a fitting article and a fitted article according to the fitting mode;
determining a reference position of the target object, and determining the offset of the target object according to the reference position;
after the position of the target object is adjusted according to the offset, at least one of a gluing object and a glued object is controlled to move, so that the gluing object and the glued object are glued.
In an embodiment, the attaching mode includes a single-edge attaching mode, a double-edge attaching mode and a mark point attaching mode, wherein a target article corresponding to the single-edge attaching mode is an attaching article or an attached article, a target article corresponding to the double-edge attaching mode is an attaching article and an attached article, and a target article corresponding to the mark point attaching mode is an attached article.
In one embodiment, the step of determining a reference position of the target item and determining an offset of the target item according to the reference position includes:
determining a plurality of reference points of a plane where a binding surface of the target article is located, wherein the reference position comprises the plurality of reference points, and the binding mode corresponding to the target article is a single-side binding mode or a double-side binding mode;
determining reference points corresponding to the datum points on the binding surface;
and determining the offset of the target object according to the reference points corresponding to the reference points and the reference points.
In an embodiment, the step of determining the offset of the target object according to each of the reference points and the reference point corresponding to the reference point includes:
connecting any two reference points to construct a first reference line, and connecting the reference points corresponding to the reference points constructing the first reference line to obtain a first reference line;
determining an included angle between the first reference line and the first reference line to obtain a first offset angle, and rotating the attaching surface according to the first offset angle to obtain a rotated first reference line;
and determining the longitudinal offset and the transverse offset of the target object according to the coordinates of the end point of the rotated first reference line and the coordinates of the end point of the first reference line, wherein the offsets comprise the transverse offset and the longitudinal offset.
In an embodiment, the step of rotating the attaching surface according to the first offset angle to obtain a rotated first reference line includes:
determining the center of the binding surface;
and rotating the binding surface by the first offset angle by taking the center as a rotation center to enable the first reference line to be overlapped or parallel to the first reference line so as to obtain a rotated first reference line.
In one embodiment, the step of determining a reference position of the target item and determining an offset of the target item according to the reference position includes:
determining paired mark points on the binding surface of the target article to connect the two mark points to obtain a second reference line, wherein the binding mode corresponding to the target article is a mark point binding mode;
determining a second reference line corresponding to the second reference line on the working plane where the target object is located;
and determining the offset of the target object according to the second reference line and the second reference line.
In an embodiment, the step of determining the offset of the target item according to the second reference line and the second reference line includes:
determining an included angle between the second reference line and the second reference line as a second offset angle;
rotating the second reference line by the second offset angle to obtain a rotated second reference line, wherein the rotated second reference line is parallel to or at least partially overlapped with the second reference line;
and determining the transverse offset and the longitudinal offset of the target object according to the end point of the rotated second reference line and the end point of the second reference line, wherein the offset comprises an offset angle, a transverse offset and a longitudinal offset.
In an embodiment, the step of rotating the second reference line by the second offset angle to obtain a rotated second reference line includes:
determining a midpoint of the second reference line;
and rotating the second reference line by the second offset angle by taking the middle point as a rotation center to obtain a rotated second reference line.
In order to achieve the above object, the present invention further provides an article attaching device, which includes an image capturing module, a memory, a processor, and an article attaching program stored in the memory and executable on the processor, wherein the image capturing module is connected to the processor, and the article attaching program implements the steps of the article attaching method when executed by the processor.
In order to achieve the above object, the present invention further provides a computer-readable storage medium storing a fitting program of an article, which when executed by a processor implements the steps of the fitting method of an article as described above.
The invention provides a method and a device for attaching an article and a computer-readable storage medium.A device for attaching the article acquires an image acquired by an image acquisition module, identifies the type of the attached article in the image, determines an attaching mode corresponding to the type, determines a target article in the attached article and the attached article according to the attaching mode, determines a reference position of the target article, determines the offset of the target article according to the reference position, and controls at least one of the attached article and the attached article to move after the target article adjusts the position according to the offset so as to complete the attachment between the attached article and the attached article. Because the offset of at least one in laminating article and the laminating article can reference position confirmed to the laminating device, need not artifical the confirming, guaranteed the accuracy of offset to make the product yields that the laminating obtained higher, improved the quality of product.
Drawings
FIG. 1 is a schematic diagram of a hardware architecture of a fitting apparatus for an article according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a method of attaching an article according to the present invention;
FIG. 3 is a schematic flow chart illustrating a second embodiment of a method of attaching an article according to the present invention;
FIG. 4 is a schematic flow chart illustrating a third embodiment of a method of attaching an article according to the present invention;
FIG. 5 is a schematic flow chart illustrating a fourth embodiment of a method of attaching an article according to the present invention;
fig. 6 is a schematic flow chart of a fitting method of an article according to a fifth embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: acquiring an image acquired by an image acquisition module, and identifying the type of a jointed article in the image; determining a fitting mode corresponding to the type, and determining a target article in a fitting article and a fitted article according to the fitting mode; determining a reference position of the target object, and determining the offset of the target object according to the reference position; after the position of the target object is adjusted according to the offset, at least one of a gluing object and a glued object is controlled to move, so that the gluing object and the glued object are glued.
Because the offset of at least one in laminating article and the laminating article can reference position confirmed to the laminating device, need not artifical the confirming, guaranteed the accuracy of offset to make the product yields that the laminating obtained higher, improved the quality of product.
As an implementation, the attaching means of the article may be as shown in fig. 1.
The embodiment scheme of the invention relates to a fitting device of an article, which comprises: a processor 101, e.g. a CPU, a memory 102, a communication bus 103, an image acquisition module 104. The communication bus 103 is used for realizing connection and communication among the components, and the image acquisition module 104 may be a camera. The memory 102 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). As shown in fig. 1, a memory 103 as a kind of computer storage medium may include a fit program of an article; and processor 101 may be configured to invoke a fit program for the article stored in memory 102 and perform the following operations:
acquiring an image acquired by an image acquisition module, and identifying the type of a jointed article in the image;
determining a fitting mode corresponding to the type, and determining a target article in a fitting article and a fitted article according to the fitting mode;
determining a reference position of the target object, and determining the offset of the target object according to the reference position;
after the position of the target object is adjusted according to the offset, at least one of a gluing object and a glued object is controlled to move, so that the gluing object and the glued object are glued.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
the attaching mode comprises a single-edge attaching mode, a double-edge attaching mode and a mark point attaching mode, wherein a target article corresponding to the single-edge attaching mode is an attaching article or an attached article, the target article corresponding to the double-edge attaching mode is an attaching article and an attached article, and the target article corresponding to the mark point attaching mode is an attached article.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
determining a plurality of reference points of a plane where a binding surface of the target article is located, wherein the reference position comprises the plurality of reference points, and the binding mode corresponding to the target article is a single-side binding mode or a double-side binding mode;
determining reference points corresponding to the datum points on the binding surface;
and determining the offset of the target object according to the reference points corresponding to the reference points and the reference points.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
connecting any two reference points to construct a first reference line, and connecting the reference points corresponding to the reference points constructing the first reference line to obtain a first reference line;
determining an included angle between the first reference line and the first reference line to obtain a first offset angle, and rotating the attaching surface according to the first offset angle to obtain a rotated first reference line;
and determining the longitudinal offset and the transverse offset of the target object according to the coordinates of the end point of the rotated first reference line and the coordinates of the end point of the first reference line, wherein the offsets comprise the transverse offset and the longitudinal offset.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
determining the center of the binding surface;
and rotating the binding surface by the first offset angle by taking the center as a rotation center to enable the first reference line to be overlapped or parallel to the first reference line so as to obtain a rotated first reference line.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
determining paired mark points on the binding surface of the target article to connect the two mark points to obtain a second reference line, wherein the binding mode corresponding to the target article is a mark point binding mode;
determining a second reference line corresponding to the second reference line on the working plane where the target object is located;
and determining the offset of the target object according to the second reference line and the second reference line.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
determining an included angle between the second reference line and the second reference line as a second offset angle;
rotating the second reference line by the second offset angle to obtain a rotated second reference line, wherein the rotated second reference line is parallel to or at least partially overlapped with the second reference line;
and determining the transverse offset and the longitudinal offset of the target object according to the end point of the rotated second reference line and the end point of the second reference line, wherein the offset comprises an offset angle, a transverse offset and a longitudinal offset.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
determining a midpoint of the second reference line;
and rotating the second reference line by the second offset angle by taking the middle point as a rotation center to obtain a rotated second reference line.
According to the scheme, the attaching device of the article acquires the image acquired by the image acquisition module, identifies the type of the attached article in the image, determines the attaching mode corresponding to the type, determines the target article in the attached article and the attached article according to the attaching mode, determines the reference position of the target article, determines the offset of the target article according to the reference position, and controls at least one of the attached article and the attached article to move after the target article adjusts the position according to the offset, so as to complete the attachment between the attached article and the attached article. Because the offset of at least one in laminating article and the laminating article can reference position confirmed to the laminating device, need not artifical the confirming, guaranteed the accuracy of offset to make the product yields that the laminating obtained higher, improved the quality of product.
An embodiment of the method for attaching an article according to the present invention is provided based on a hardware structure of the apparatus for attaching an article.
Referring to fig. 2, fig. 2 is a first embodiment of the method of attaching an article of the present invention, which includes the steps of:
s100, acquiring an image acquired by an image acquisition module, and identifying the type of a jointed article in the image;
in this embodiment, the execution main body is a fitting device of an article. For ease of description, the device is hereinafter referred to as a fit device for an article. The device comprises an image acquisition module and a driving mechanism, wherein the image acquisition module can be a camera, the device can comprise a plurality of image acquisition modules which are respectively used for acquiring the attached articles and the attached articles, and the device can also be only provided with one image acquisition module and simultaneously acquires the images of the attached articles and the attached articles. The attached article and the attached article are connected with corresponding driving mechanisms, and the driving mechanisms can control the attached article or other attached articles to move relative to another article and can also control the plane movement of the attached article and the other attached article to adjust the positions.
When the attached article and the attached article need to be attached, the image acquisition module is started to acquire the image of the attached article, and the device can identify the type of the attached article according to the image. Specifically, various images of the attached article are stored in the device, and the device compares the acquired image with the stored image when acquiring the image of the attached article, so that the attached article in the image can be determined, and the type of the attached article in the image can be identified.
Step S200, determining a fitting mode corresponding to the type, and determining a target article in a fitting article and a fitted article according to the fitting mode;
the device stores the mapping relation between the attaching mode of the attached article and the type of the attached article, and the attaching mode comprises a single-side attaching mode, a double-side attaching mode and a mark point attaching mode. The single-edge attaching mode refers to the adjustment position of one of the attaching article and the attached article; the bilateral fit mode refers to the position adjustment of both the fit article and the fitted article; and the mark point attaching mode refers to that the attached article is adjusted in position according to the mark point. It can be understood that the target object corresponding to the single-side attaching mode is an attaching object or an attached object, the target object corresponding to the double-side attaching mode is an attaching object and an attached object, and the target object corresponding to the mark point attaching mode is an attached object.
The correspondence between the type and the fit mode may be set by a user. For example, the bonding mode of the PCB board can be set to a mark point bonding mode, that is, the mark point is used for positioning; setting the gluing mode of the frame glue as a single-side gluing mode; the bonding mode of the parallel wooden sticks is set to the bilateral bonding mode.
Step S300, determining a reference position of the target object, and determining the offset of the target object according to the reference position;
after the target object is determined, the device determines the reference position of the target object, the reference position represents the correct placement position of the target object, and the reference position can be stored in the device. When the position is adjusted, the device establishes a coordinate system for the acquired image containing the target object, so that the reference position is added to the image of the target object in a coordinate mode, and the device calculates the distance of the target object moving to the reference position, wherein the distance is the offset of the target object.
Step S400, after the position of the target object is adjusted according to the offset, at least one of a bonding object and a bonded object is controlled to move, so that the bonding object and the bonded object are bonded.
After the offset is determined, the driving mechanism controls the target object to be adjusted according to the offset. The relative distance between the attached article and the attached article is fixed, after the target article is adjusted in position, the driving mechanism controls the attached article to move towards the attached article for attaching, or the driving mechanism controls the attached article to move towards the attached article for attaching, and of course, the driving mechanism can simultaneously control the attached article and the attached article to move for attaching.
In the technical scheme provided by this embodiment, an article attaching device acquires an image acquired by an image acquisition module, identifies the type of an attached article in the image, determines an attaching mode corresponding to the type, determines a target article in the attached article and the attached article according to the attaching mode, and then determines a reference position of the target article, thereby determining the offset of the target article according to the reference position, and controls at least one of the attached article and the attached article to move after the target article adjusts the position according to the offset, so as to complete the attachment between the attached article and the attached article. Because the offset of at least one in laminating article and the laminating article can reference position confirmed to the laminating device, need not artifical the confirming, guaranteed the accuracy of offset to make the product yields that the laminating obtained higher, improved the quality of product.
Referring to fig. 3, fig. 3 is a second embodiment of the method for attaching an article according to the present invention, and based on the first embodiment, the step S300 includes:
step S310, determining a plurality of reference points of a plane where a binding surface of the target article is located, wherein the reference position comprises the plurality of reference points, and the binding mode corresponding to the target article is a single-side binding mode or a double-side binding mode;
step S320, determining reference points corresponding to the datum points on the binding surface;
step S330, determining the offset of the target object according to the reference points and the reference points corresponding to the reference points.
In this embodiment, the attaching mode corresponding to the target object is a single-edge attaching mode or a double-edge attaching mode.
The reference position comprises a plurality of reference points, and each reference point is positioned on the plane of the binding surface of the target article. The binding surface comprises reference points corresponding to the reference points, when each reference point is superposed with the reference point corresponding to the reference point, the binding surface is matched with the reference position, and at the moment, the offset can be determined according to the moving distance of the reference point to the reference point.
The reference point may be set to an arbitrary point on the faying surface after the position adjustment. For example, the reference points are set as the center and the a-angle point of the attaching surface after the position adjustment, and if the current center of the attaching surface moves to coincide with the set center reference point and the current a-angle point of the attaching surface moves to coincide with the set reference point of the a-angle point, it can be determined that the reference position matches the attaching surface.
The device can determine whether the attaching surface of the attached article is parallel to the attaching surface of the attached article in real time, if the attaching surfaces are not parallel to each other, more than three reference points are used as references to control the movement of the target article, and the more than three reference points form a plane. It can be understood that, at this time, the offset of the target article relates to rotation, longitudinal translation and transverse translation of the spatial angle, that is, the offset includes spatial angle offset, longitudinal offset and transverse offset, and the attaching surfaces of the two are not parallel, so that the planar angle of the attaching surface of the target article needs to be adjusted according to the spatial angle offset, so that the attaching surfaces of the two are parallel.
In the technical scheme provided by this embodiment, when the attachment mode is the single-side attachment mode or the double-side attachment mode, the device determines a plurality of reference points on the plane where the attachment surface of the target article is located, and determines reference points corresponding to the reference points on the attachment surface, so that the offset can be determined according to the reference points and the reference points.
Referring to fig. 4, fig. 4 is a third embodiment of the attaching method of the article of the present invention, and based on the second embodiment, the step S330 includes:
step S331, connecting any two reference points to construct a first reference line, and connecting reference points corresponding to the reference points constructing the first reference line to obtain a first reference line;
step S332, determining an included angle between the first reference line and the first reference line to obtain a first offset angle, and rotating the attaching surface according to the first offset angle to obtain a rotated first reference line;
step S333, determining a longitudinal offset and a transverse offset of the target object according to the coordinates of the end point of the rotated first reference line and the coordinates of the end point of the first reference line, where the offsets include the transverse offset and the longitudinal offset.
In this embodiment, the plane of the attached article is parallel to the plane of the attached article. The device can be used for connecting any two datum points to obtain a first datum line, and then connecting the datum points corresponding to the datum points for constructing the first datum line to obtain a first reference line. The first reference line and the first reference line are located on the same plane, so that the included angle between the two lines can be calculated. When the image acquisition module acquires an image, a coordinate system is constructed for the image, and the binding surface of the target object is a plane where the coordinate system is located, so that the reference point and the reference point have corresponding coordinates, and therefore the device can calculate the included angle between the two lines according to the coordinates of the end point of the first reference line and the coordinates of the end point of the first reference line. The included angle is the first offset angle.
After the first offset angle is determined, the device rotates the attaching surface by the first offset angle, so that the first reference line is parallel to or coincided with the first reference line, namely the rotated first reference line is obtained, and the offset is obtained according to the coordinates of the end point of the rotated first reference line and the coordinates of the end point of the first reference line. Specifically, assuming that the end points of the first reference line are a and B, the end points of the first reference line are C and D, a corresponds to C, and B corresponds to D, the cheap angle is θ, the distance between the center point of the bonding surface when rotating and the point B is r, and the coordinate of B is (X)b，Yb) D has the coordinate of (X)d，Yd) B' (X) is obtained after rotation of the first reference lineb’，Yb') at this time, Xb’＝(Xb-rXb)cosθ-(Yb-rYb)sin
θ+r Xb；
Yb’＝(Xb-rXb)sinθ-(Yb-rYb)cosθ+r Yb。
The lateral offset DeltaX is obtained as Xb’-XdThe lateral offset DeltaY is Yb’-Yd。
When the first reference line is parallel to or overlaps the first reference line, the lateral shift amount Δ X is Xb-XdThe lateral offset DeltaY is Yb-Yd。
It is understood that, in the present embodiment, if the attaching surface of the article to be attached is parallel to the attaching surface of the article to be attached, only two reference points may be provided.
When the device rotates the attaching surface of the target article by the first offset angle, the rotation center of the attaching surface needs to be determined, and the device can determine the center of the attaching surface as the rotation center. For example, the bonding surface is a regular quadrangle, that is, the bonding surface may be a rectangle, a rhombus, or the like, and the intersection point of two diagonal lines of the bonding surface is the center of the bonding surface and is taken as the rotation center.
The binding surface is not necessarily a regular quadrangle, but may be a triangle, a polygon, or even a surface constructed by curves and straight lines. And determining the angular points of all the binding surfaces by the device, and fitting circles to all the angular points to obtain circles. The center of the circle can be used as the center of the binding surface.
In the technical scheme provided by this embodiment, the device connects any two reference points to construct a first reference line, and connects reference points corresponding to the reference points that construct the first reference line to obtain a first reference line, then determines an included angle between the first reference line and the first reference line as a first offset angle, and finally controls the binding surface to rotate by the first offset angle to obtain a rotated first reference line, so that an offset is determined according to coordinates of the rotated first reference line end and coordinates of the first reference line end, and the device can accurately calculate the offset of the target object.
In an embodiment, the target article is a fit article, that is, the fit mode corresponding to the target article is a single-edge fit mode. The article to be bonded is placed on the working surface, and the working surface has a corresponding coordinate system, so that each point on the first bonding surface of the article to be bonded has a corresponding coordinate. The device can randomly determine a plurality of reference points on the first binding surface, then determine the height between the second binding surface of the target article and the first binding surface of the bound article, and the coordinate obtained by adding the height to y in the coordinate corresponding to the reference point is the datum point of the reference point on the second binding surface.
In addition, after the device determines the reference point, the position of the reference point on the first attaching surface needs to be determined, and since the shapes of the first attaching surface and the second attaching surface are fixed, the correction point on the second attaching surface can be determined according to the position of the reference point on the first attaching surface. For example, if the reference point is the center of the first attachment surface, the corresponding correction point is the center of the second attachment surface.
It should be noted that, when the target article is an attached article, the reference point is a point on the second attachment surface, and the correction point is a point on the first attachment surface, which is not described herein again.
In the technical scheme provided by the embodiment, the device determines a plurality of reference points on the first attaching surface of the attached article, determines the height between the first attaching surface and the second attaching surface, and determines the reference point of the reference point on the second attaching surface of the target article according to the height, so that the device accurately determines the reference point.
In an embodiment, when the target article is a bonded article, or the target article includes a bonded article and a bonded article, the apparatus may use a projection of a bonding surface of the bonded article on a plane where the bonding surface of the bonded article is located as a reference position of the target article;
when the target article includes the attached article, or when the target article includes the attached article and the attached article, a projection of the attachment surface on a plane where the attachment surface of the attached article is located is set as a reference position of the target article.
It will be appreciated that the apparatus need only adjust the position of the target article and that conformable or conformable articles not identified as target articles need not be moved.
In one embodiment, the article to be conformed is generally placed on a work surface. For this, the device determines the position of the article to be attached on the working surface to match the position with the article to be attached, and the position can be the corner point of the article to be attached; the device takes the projection of the reference position of the attached article on the plane where the second attaching surface of the attached article is located as the reference position of the attached article. In this embodiment, the apparatus does not need to adjust the position of the article to be attached, but only needs to adjust the position of the article to be attached.
Referring to fig. 5, fig. 5 is a fourth embodiment of the method for attaching an article according to the present invention, where based on the first embodiment, the step S300 includes:
step S340, determining paired mark points on the binding surface of the target article to connect the two mark points to obtain a second reference line, wherein the binding mode corresponding to the target article is a mark point binding mode;
step S350, determining a second reference line corresponding to the second reference line on the working plane where the target object is located;
step S360, determining an offset of the target object according to the second reference line and the second reference line.
In this embodiment, the attaching mode corresponding to the target article is a mark point attaching mode. The mark points can be regarded as position identification points on the attached article, and the mark points are generally arranged in pairs, and the relative distance between the pair of mark points is as far as possible, so that two end points on the diagonal line of the attached article can be set as the pair of mark points.
The device may connect any pair of mark points, resulting in a straight line, which is defined as the second reference line. And second reference lines are arranged on the working plane, and the second reference lines corresponding to different pairs of mark points are different. For example, the paired mark points constructed at the upper left corner and the lower right corner of the attached article correspond to a second reference line, and the paired mark points constructed at the upper right corner and the lower left corner of the attached article correspond to a second reference line.
After the device obtains the second reference line, the second reference line corresponding to the second reference line is determined, the device moves the second reference line to be overlapped with the second reference line, and the moving distance of the second reference line which is moved to be overlapped with the second reference line is the offset. It should be noted that the end points of the second reference line corresponding to the end points of the second reference line need to be overlapped, for example, the end point a on the second reference line is the top left corner mark point of the attached article and the end point B is the bottom right corner mark point of the attached article, the end point C of the second reference line is the standard position representing the bottom right corner of the attached article on the working plane, and the end point D of the second reference line is the standard position representing the top left corner of the attached article on the working plane, that is, the end point a corresponds to the end point D, and the end point B corresponds to the end point C, so when the second reference line and the second reference line are overlapped, the end point a and the end point D are overlapped, and the end point B and the end point C are overlapped.
In the technical scheme provided by this embodiment, when the attaching mode is a mark point attaching mode, pairs of mark points are determined on the attaching surface of the target article to be connected to obtain a second reference line, and a second reference line corresponding to the second reference line is determined, so that the offset of the target article is accurately determined according to the second reference line and the second reference line.
Referring to fig. 6, fig. 6 is a fifth embodiment of the method for attaching an article according to the present invention, and based on the fourth embodiment, the step S360 includes:
step S361, determining an included angle between the second reference line and the second reference line as a second offset angle;
step S362, rotating the second reference line by the second offset angle to obtain a rotated second reference line, where the rotated second reference line is parallel to or at least partially overlapped with the second reference line;
step S363, determining a lateral offset and a longitudinal offset of the target object according to the end point of the rotated second reference line and the end point of the second reference line, where the offset includes an offset angle, a lateral offset, and a longitudinal offset.
In this embodiment, the second reference line and the second reference line may be located on the same plane, that is, both located on the working plane. The apparatus may establish a coordinate system for the working plane. Therefore, the end point of the second reference line and the end point of the second reference line have corresponding coordinates. The device can calculate the included angle between the two lines according to the coordinates of the end point of the second reference line and the coordinates of the end point of the second reference line. The included angle is the second offset angle.
After the second offset angle is determined, the device rotates the attachment surface of the attached object by the second offset angle, so that the second reference line is parallel to or coincided with the second datum line, namely the rotated second reference line is obtained, and the offset is obtained according to the coordinates of the end point of the rotated second reference line and the coordinates of the end point of the second datum line. The offset determination process may refer to the above offset determination process in the single-edge bonding mode or the double-edge bonding mode, which is not described in detail herein.
The apparatus may rotate the article to be attached with the rotation of the second offset angle around any point of the article to be attached as a rotation center. However, the rotated attached article may be separated from the working plane, so that the apparatus cannot acquire the coordinates of the attached article, and thus cannot determine the offset of the attached article. In this regard, the device can use the midpoint of the second reference line as the center of rotation to avoid the rotated bonded object from separating from the working plane.
In the technical scheme provided by this embodiment, the device determines an included angle between the second reference line and the second reference line as a second offset angle, and rotates the second reference line by the second offset angle to obtain a rotated second reference line, so as to determine the lateral offset and the longitudinal offset of the attached article according to the end point of the rotated second reference line and the end point of the second reference line, so that the device can accurately calculate the offset of the attached article.
In one embodiment, the mark points are identification locations formed of circles. The mark point comprises a characteristic point and an open area, the characteristic point is positioned in the center of the open area, the shape of the open area is running, and the characteristic point and the open area form concentric circles. In order to improve the identification effect of the image acquisition module, the radius of the characteristic points is one third of the radius of the open area.
The device can determine pairs of mark points as target mark points; the device determines the center point of the mark point, wherein the center point is the center point of the feature point, namely the center of the mark point; the device then connects the two centers of the pair of mark points to obtain a second reference line.
In the technical scheme provided by this embodiment, since the device uses the center point of the mark point as the end point of the second reference line, the error between the reference line formed by the center point and the theoretical reference line of the attached article is reduced, so that the device can calculate the offset of the attached article more accurately.
In one embodiment, the attached article is provided with a plurality of attaching positions, and each attaching position corresponds to one attached article. After the position of the article to be bonded is adjusted, the device calculates the movement distance between the article to be bonded and each bonding position, and stores the movement distance and the bonding position association corresponding to the movement distance. Thereby the device can each migration distance will laminate article and laminate to the laminating position that migration distance corresponds to accomplish the laminating of each laminating position by the article of laminating. For example, the attached article is a PCB, the PCB is provided with a plurality of attachment positions, each attachment position needs to be attached with a corresponding electronic component, and the electronic component is the attached article.
The invention also provides a fitting device of an article, which comprises an image acquisition module, a memory, a processor and a fitting program of the article, wherein the fitting program of the article is stored in the memory and can run on the processor, the image acquisition module is connected with the processor, and when being executed by the processor, the fitting program of the article realizes the steps of the fitting method of the article according to the embodiment.
The present invention also provides a computer-readable storage medium storing a fitting program of an article, which when executed by a processor implements the steps of the fitting method of an article according to the above embodiment.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A method for attaching an article, comprising the steps of:
acquiring an image acquired by an image acquisition module, and identifying the type of a jointed article in the image;
determining a fitting mode corresponding to the type, and determining a target article in a fitting article and a fitted article according to the fitting mode;
determining a reference position of the target object, and determining the offset of the target object according to the reference position;
after the position of the target object is adjusted according to the offset, at least one of a gluing object and a glued object is controlled to move, so that the gluing object and the glued object are glued.
2. The method for attaching the article according to claim 1, wherein the attaching mode includes a single-edge attaching mode, a double-edge attaching mode, and a mark point attaching mode, wherein a target article corresponding to the single-edge attaching mode is an attaching article or an attached article, a target article corresponding to the double-edge attaching mode is an attaching article and an attached article, and a target article corresponding to the mark point attaching mode is an attached article.
3. The method of conforming an article according to claim 1 wherein the step of determining a reference position of the target article and determining an offset of the target article from the reference position comprises:
determining a plurality of reference points of a plane where a binding surface of the target article is located, wherein the reference position comprises the plurality of reference points, and the binding mode corresponding to the target article is a single-side binding mode or a double-side binding mode;
determining reference points corresponding to the datum points on the binding surface;
and determining the offset of the target object according to the reference points corresponding to the reference points and the reference points.
4. The method of claim 3, wherein the step of determining the offset of the target object according to the reference points and the reference points corresponding to the reference points comprises:
connecting any two reference points to construct a first reference line, and connecting the reference points corresponding to the reference points constructing the first reference line to obtain a first reference line;
determining an included angle between the first reference line and the first reference line to obtain a first offset angle, and rotating the attaching surface according to the first offset angle to obtain a rotated first reference line;
and determining the longitudinal offset and the transverse offset of the target object according to the coordinates of the end point of the rotated first reference line and the coordinates of the end point of the first reference line, wherein the offsets comprise the transverse offset and the longitudinal offset.
5. The method of conforming an article of claim 4 wherein the step of rotating the conforming surface according to the first offset angle to obtain a rotated first reference line comprises:
determining the center of the binding surface;
and rotating the binding surface by the first offset angle by taking the center as a rotation center to enable the first reference line to be overlapped or parallel to the first reference line so as to obtain a rotated first reference line.
6. The method of conforming an article according to claim 1 wherein the step of determining a reference position of the target article and determining an offset of the target article from the reference position comprises:
determining paired mark points on the binding surface of the target article to connect the two mark points to obtain a second reference line, wherein the binding mode corresponding to the target article is a mark point binding mode;
determining a second reference line corresponding to the second reference line on the working plane where the target object is located;
and determining the offset of the target object according to the second reference line and the second reference line.
7. The method of conforming an article according to claim 6 wherein the step of determining an offset of the target article from the second reference line and the second reference line comprises:
determining an included angle between the second reference line and the second reference line as a second offset angle;
rotating the second reference line by the second offset angle to obtain a rotated second reference line, wherein the rotated second reference line is parallel to or at least partially overlapped with the second reference line;
and determining the transverse offset and the longitudinal offset of the target object according to the end point of the rotated second reference line and the end point of the second reference line, wherein the offset comprises an offset angle, a transverse offset and a longitudinal offset.
8. The method of conforming an article according to claim 7 wherein the step of rotating the second reference line by the second offset angle to obtain a rotated second reference line comprises:
determining a midpoint of the second reference line;
and rotating the second reference line by the second offset angle by taking the middle point as a rotation center to obtain a rotated second reference line.
9. An article attaching device, characterized in that the article attaching device comprises an image acquisition module, a memory, a processor and an article attaching program stored in the memory and operable on the processor, the image acquisition module is respectively connected with the processor, and the article attaching program realizes the steps of the article attaching method according to any one of claims 1 to 8 when executed by the processor.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a fit program of an article, which when executed by a processor implements the steps of the fit method of an article according to any one of claims 1 to 8.
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