CN114538027A - Full-automatic visual positioning transfer equipment and control method thereof - Google Patents
Full-automatic visual positioning transfer equipment and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses full-automatic visual positioning transfer equipment and a control method thereof, and relates to the technical field of micro-assembly equipment, so as to improve the production efficiency, simplify the coordinate calculation and optimize the program structure. The full-automatic visual positioning transfer equipment comprises a workbench, a first transparent marking plate, an object carrying device, a second transparent marking plate, an information acquisition camera, a transfer device, a fixed point camera and a processor, wherein the first transparent marking plate is arranged on the workbench, and the second transparent marking plate is fixed on the object carrying device; the loading device comprises a plurality of product fixing positions arranged in a matrix array mode, and each product fixing position is used for placing a product; the transfer device is used for transferring the product; the processor can acquire and calculate the mechanical coordinates of all products relative to the transfer device; the processor is further configured to control the transfer device to transfer the products one by one when the processor calculates the mechanical coordinates of all the products relative to the transfer device. The invention is used for positioning and transferring products.
Description
Technical Field
The invention relates to the technical field of micro-assembly equipment, in particular to full-automatic visual positioning transfer equipment and a control method thereof.
Background
With the development of industrial technology, automated assembly line work has been widely used in chip production processes. The full-automatic pick-and-place of the chip is an important link of the production process of the chip.
In the prior art, a full-automatic chip picking and placing device comprises a positioning link and a transferring link, for example, the positioning of a chip is obtained by a camera at a fixed position, and one chip is positioned each time and then correspondingly transferred; in addition, the movement mechanism and the transfer mechanism of the chip carrier calculate the coordinate system with their respective origins as programs. However, each time one chip is positioned, one chip is transferred, so that the production efficiency completely depends on the structure speed, and the production efficiency is low; in addition, each motion mechanism axis coordinate system takes the respective origin as a program calculation coordinate system, and corresponds to different physical spaces and coordinate systems, so that the program calculation is complex and the performability is poor.
Disclosure of Invention
The embodiment of the invention provides full-automatic visual positioning transfer equipment and a control method thereof, which are used for improving the production efficiency, simplifying the coordinate calculation and optimizing the program structure.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in one aspect, the present invention provides a fully automatic vision positioning transfer apparatus, including: the workbench is provided with a registration hole; the first transparent marking plate is arranged at the position alignment hole; the first transparent marking plate is provided with a first fixed marking point; the carrying device is provided with a product fixing area and a positioning opening, the product fixing area comprises a plurality of product fixing positions which are arranged in a matrix array mode, and each product fixing position is used for placing a product; the carrying device can move along the row direction and the column direction of the matrix array; the second transparent marking plate is fixed on the positioning opening and provided with a second fixed marking point; the fixed point camera is arranged right below the alignment hole and used for confirming whether the first fixed marking point and the second fixed marking point are overlapped or not; the lens of the information acquisition camera faces the workbench and can move along the row direction and the column direction of the matrix array; the transfer device is used for transferring the product; the processor is electrically connected with the transfer device, the information acquisition camera, the fixed point camera and the carrying device, can control the carrying device and the information acquisition camera to move along the row direction and the column direction and control the information acquisition camera to take photos, and can acquire the mechanical coordinate of the transfer device when the transfer device is at the first fixed mark point, the mechanical coordinate of the carrying device when the second fixed mark point is at the first fixed mark point and the coordinate relation between all products and the second fixed mark point; calculating the mechanical coordinates of all products relative to the transfer device according to the mechanical coordinates of the transfer device when the transfer device is at the first fixed marking point, the mechanical coordinates of the carrying device when the second fixed marking point is at the first fixed marking point and the coordinate relationship between all products and the second fixed marking point; and when the processor calculates the mechanical coordinates of all the products relative to the transfer device, the processor is also used for controlling the transfer device to transfer the products one by one.
Optionally, the carrying device comprises a supporting plate and a fixing jig, the supporting plate is provided with an installation opening, the fixing jig is rotatably connected with the supporting plate at the installation opening, and the product fixing area is located on the fixing jig; when the products in the photo are fully paved in the row direction and the column direction, the processor can also perform linear fitting on the coordinates of each row of products in the photo, calculate the average value of the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line, and control the fixed jig to rotate at a preset angle so that the preset fitting straight line is parallel to the row direction; or when the products in the picture are fully paved in the row direction and the column direction, the processor can also perform linear fitting on the coordinates of each column of products in the picture, calculate the average value of the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line, and control the fixed jig to rotate at a preset angle so that the preset fitting straight line is parallel to the column direction.
Optionally, the carrying device further comprises a positioning block, the positioning opening is located on the positioning block, the positioning block is fixedly connected with the supporting plate, and the orthographic projection of the supporting plate on the surface of the workbench is rectangular; in the orthographic projection of the supporting plate and the positioning block on the workbench, the distance between the center of the mounting opening and the first side edge of the supporting plate is greater than the distance between the center of the mounting opening and other side edges, the positioning block is positioned on one side of the mounting opening far away from the first side edge, and the bisector of the first side edge penetrates through the center of the mounting opening and a second fixed marking point of a second transparent marking plate on the positioning block; the first side edge is an edge corresponding to the orthographic projection of one side of the support plate, which is used for connecting the transmission structure, on the workbench.
Further, still include the background board of a plurality of different colours, the background board sets up on the workstation, and the product can be discerned to the treater to choose for use rather than the background board of assorted colour according to the product.
Furthermore, the device also comprises an alarm unit, the processor is electrically connected with the alarm unit, and the processor can control the alarm unit to alarm.
The full-automatic visual positioning transfer equipment provided by the embodiment of the invention is characterized in that a workbench is provided with a registration hole, the registration hole is provided with a first transparent mark plate, and the first transparent mark plate is provided with a first fixed mark point; a fixed point camera is arranged below the alignment hole; the carrying device is provided with a second transparent marking plate which is provided with a second fixed marking point. Based on the above, the fixed point camera confirms that the first fixed mark point and the second fixed mark point are overlapped in the vertical direction, records the mechanical coordinate of the carrying device at the moment, and then establishes the relation between the mechanical coordinate of the carrying device corresponding to the second fixed mark point and the mechanical coordinate of the transfer device according to the mechanical coordinate of the transfer device at the first fixed mark point. In this way, the mechanical coordinate of the product corresponding to the carrying device is calculated by taking the position of the second fixed mark point of the carrying device on the first fixed mark point as a reference, and the mechanical coordinate of the product corresponding to the carrying device can be associated to the mechanical coordinate of the transfer device, so that the purposes of simplifying coordinate calculation, optimizing program structure and improving calculation performance are achieved. In addition, the carrying device is provided with a product fixing area, a plurality of products are placed on the product fixing area, and when the processor calculates the mechanical coordinates of all the products relative to the transfer device, the processor is also used for controlling the transfer device to transfer the products one by one. In other words, in the process of using the full-automatic visual positioning transfer equipment provided by the embodiment of the invention, the mechanical coordinates of all products on the carrying device relative to the transfer device are obtained, then the transfer device is controlled to transfer all the products one by one, and the positioning and the transfer of a plurality of products are respectively and intensively processed, so that the production efficiency can be effectively improved.
Therefore, the full-automatic vision positioning transfer equipment provided by the embodiment of the invention establishes the relation between the mechanical coordinate of the loading device and the mechanical coordinate of the transfer device, simplifies the coordinate calculation, optimizes the program structure, improves the calculation performance, and improves the production efficiency by respectively and intensively processing the positioning and the transfer of a plurality of products.
On the other hand, the invention also provides a control method of the full-automatic vision positioning transfer equipment, which is used for the full-automatic vision positioning transfer equipment and comprises the following steps: a coordinate association step, wherein the coordinate association step comprises: obtaining a first coordinate, wherein the first coordinate is a mechanical coordinate of the transfer device at a first fixed marking point; controlling the object carrying device to move above the first transparent mark plate, so that the first fixed mark point and the second fixed mark point are overlapped in the vertical direction, and recording the mechanical coordinate of the object carrying device to obtain a second coordinate; a product identification step, wherein the product identification step comprises: controlling the information acquisition camera to move above the carrying device, enabling the second fixed mark point to be located at the center of the information acquisition camera, recording the mechanical coordinate of the carrying device, and obtaining a third coordinate; controlling a preset point of the carrying device to move below the information acquisition camera and taking a picture; judging whether a product exists in the picture; when no product exists in the photo, controlling the object carrying device to move according to the first preset track, and updating the photo until the product appears in the photo; when a product exists in the photo, executing a product coordinate identification step; a product coordinate identification step, wherein the product coordinate identification step comprises the following steps: acquiring coordinate relations between all products and the third coordinate, and acquiring mechanical coordinates of the loading devices corresponding to all products according to the third coordinate and the coordinate relations between all products and the third coordinate; according to the first coordinate, the second coordinate and the mechanical coordinates of the carrying devices corresponding to all the products, the mechanical coordinates of the transferring devices corresponding to all the products are obtained; a product transfer step, the product transfer step comprising: and controlling the transfer device to transfer the products one by one according to the mechanical coordinates of all the products corresponding to the transfer device.
Optionally, the field of view of the information collecting camera is smaller than the product fixing area, and obtaining the coordinate relationship between all the products and the third coordinate includes: judging whether the products in the photo are fully paved in the row direction and the column direction; when the products in the photo are fully paved in the row direction and the column direction, controlling the carrying device to move along the first direction, and updating the photo until the products in the photo are not fully paved in the first direction, wherein the first direction is the row direction or the column direction; when the products in the photo are not fully paved in the row direction and the products in the photo are fully paved in the column direction, controlling the object carrying device to move along the column direction, and updating the photo until the products in the photo are not fully paved in the column direction; when the products in the photo are fully paved in the row direction and the products in the photo are not fully paved in the column direction, controlling the carrying device to move along the row direction, and updating the photo until the products in the photo are not fully paved in the row direction; when the products in the photos are not fully paved in the row direction and the column direction, controlling the object carrying device to move according to a second preset track, taking the photos once when the photos move for a preset distance, and recording the mechanical coordinates of the object carrying device corresponding to each photo until all the products are completely photographed; and obtaining the coordinate relation between all the products and the third coordinate according to the pictures shot in the second preset track and the mechanical coordinates of the carrying device corresponding to the pictures. .
Furthermore, the carrying device comprises a supporting plate and a fixing jig, wherein the supporting plate is provided with an installation opening, the fixing jig is rotatably connected with the supporting plate at the installation opening, and the product fixing area is positioned on the fixing jig; before obtaining the coordinate relationship between all the products and the third coordinate, the product coordinate identifying step further includes: judging whether the products in the photo are fully paved in the row direction and the column direction; when the products in the photo are not fully paved in the row direction and the column direction, controlling the carrying device to move along the first direction, and updating the photo until the products in the photo are fully paved in the first direction, wherein the first direction is the row direction or the column direction; when the products in the photos are fully paved in the row direction and the products in the photos are not fully paved in the column direction, controlling the carrying device to move in the column direction, and updating the photos until the products in the photos are fully paved in the column direction; when the products in the photo are not fully paved in the row direction and the products in the photo are fully paved in the column direction, controlling the carrying device to move along the row direction, and updating the photo until the products in the photo are fully paved in the row direction; when the products in the photo are fully paved in the row direction and the column direction, performing linear fitting on the coordinates of each row of products in the photo, averaging the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line, and controlling the fixed jig to rotate at a preset angle to enable the preset fitting straight line to be parallel to the row direction; or, performing linear fitting on the coordinates of each row of products in the comparison sheet, averaging the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line, and controlling the fixed jig to rotate at a preset angle so as to enable the preset fitting straight line to be parallel to the row direction.
Further, the full-automatic visual positioning transfer device further comprises a plurality of background plates with different colors, the background plates are arranged on the workbench, the information acquisition camera is controlled to move to the position above the object carrying device, the second fixed mark point is located in the center of the information acquisition camera, the mechanical coordinate of the object carrying device is recorded, and before the third coordinate is obtained, the product identification step further comprises: and controlling the carrying device to move so that the second fixed mark point is positioned right above the background plate with the preset color.
Further, the full-automatic visual positioning transfer device further comprises an alarm unit, and the product identification step further comprises: and when the object carrying device moves according to the first preset track and no product exists in the picture, the alarm unit is controlled to alarm.
Compared with the prior art, the beneficial effects of the control method of the full-automatic visual positioning transfer device provided by the invention are the same as the beneficial effects of the full-automatic visual positioning transfer device provided by the technical scheme, and the detailed description is omitted here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a front view of a fully automatic vision positioning transfer apparatus provided by an embodiment of the present invention;
FIG. 2 is a top view of a fully automatic vision positioning and transferring apparatus provided by an embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps of a fully automatic vision positioning and transferring apparatus according to an embodiment of the present invention;
FIG. 4 is a second flowchart illustrating steps of the fully automatic vision positioning and transferring apparatus according to the embodiment of the present invention;
FIG. 5 is a third flowchart illustrating steps of a fully automatic vision positioning and transferring apparatus according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating a fourth step of the fully automatic vision positioning and transferring apparatus according to the embodiment of the present invention.
Reference numerals:
1-a workbench; 11-background plate; 12-alignment holes; 2-a first transparent indicia sheet; 3-carrying device; 31-a support plate; 32-fixing the jig; 33-positioning blocks; 4-product; 5-a second transparent indicia sheet; 6-a fixed point camera; 61-a first light source; 7-an information acquisition camera; 71-second light source.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. They may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The embodiment of the invention provides a full-automatic vision positioning transfer device, which comprises the following components in parts by weight with reference to fig. 1 and 2:
the worktable 1 is provided with a contraposition hole 12 on the worktable 1. The alignment holes 12 may be square or circular, or may be geometric, and are not limited herein.
The first transparent mark plate 2 is arranged at the position of the alignment hole 12, and the first transparent mark plate 2 is provided with a first fixed mark point. The first transparent marking plate 2 is located on the upper side or the lower side of the alignment hole 12 and is attached and fixed with the workbench 1. Generally, the first fixed mark point is located at the center of the first transparent mark plate 2. Specifically, the first transparent mark plate 2 is a rectangle, a cross line bisecting the rectangle is drawn on the rectangle, and the intersection point of the cross is the first fixed mark point. Here, the first fixed mark points are generally distributed in the same vertical direction as the center of the aligning hole 12.
And the second transparent mark plate 5 is fixed on the positioning opening, and the second transparent mark plate 5 is provided with a second fixed mark point. Likewise, the second fixed mark point is located in the center of the second transparent mark plate 5. Specifically, the second transparent mark plate 5 is a rectangle, a cross line bisecting the rectangle is drawn on the rectangle, and the intersection point of the cross is the second fixed mark point. Here, the second fixed marker points are generally distributed in the same vertical direction as the center of the positioning opening. In addition, in order to facilitate the alignment of the first fixed mark point of the first transparent mark plate 2 and the second fixed mark point of the second transparent mark plate 5, the structure of the first transparent mark plate 2 is generally consistent with the structure of the second transparent mark plate 5.
And the fixed point camera 6 is arranged right below the alignment hole 12 and used for confirming whether the first fixed mark point and the second fixed mark point coincide or not. Here, for image clarity, a first light source 61 emitting light toward the stage is disposed at the lens of the fixed point camera 6.
And an information collecting camera 7, wherein a lens of the information collecting camera 7 faces the workbench 1 and can move along the row direction and the column direction of the matrix array. Here, for image clarity, a second light source 71 emitting light toward the stage 1 is provided at the lens of the information collecting camera 7.
A transfer device (not illustrated in figures 1 and 2) for transferring the products 4. Generally, the transfer device is movable in three dimensions. The transfer device can move to the position of the second transparent mark point in space when the fixed point camera 6 confirms that the second transparent mark point is coincident with the second transparent mark point, and records a mechanical coordinate, wherein the mechanical coordinate is the mechanical coordinate of the transfer device when the first fixed mark point is located.
The processor is electrically connected with the transfer device, the information acquisition camera 7, the fixed point camera 6 and the carrying device 3, can control the carrying device 3 and the information acquisition camera 7 to move along the row direction and the column direction and control the information acquisition camera 7 to shoot photos, and can acquire the mechanical coordinate of the transfer device when the first fixed mark point is located, the mechanical coordinate of the carrying device 3 when the second fixed mark point is located at the first fixed mark point, and the coordinate relation between all products 4 and the second fixed mark point; calculating the mechanical coordinates of all products 4 relative to the transfer device according to the mechanical coordinates of the transfer device when the transfer device is at the first fixed marking point, the mechanical coordinates of the carrying device 3 when the second fixed marking point is at the first fixed marking point and the coordinate relationship between all the products 4 and the second fixed marking point; wherein the processor is further adapted to control the transferring means to transfer the products 4 one by one, when the processor calculates the mechanical coordinates of all the products 4 with respect to the transferring means.
The processor is a control center of the full-automatic vision positioning transfer device, various interfaces and lines are used for connecting various parts of the full-automatic vision positioning transfer device, and various functions and processing data of the full-automatic vision positioning transfer device are executed by running or executing software programs and/or modules stored in the memory and calling data stored in the memory, so that the full-automatic vision positioning transfer device is monitored integrally. Alternatively, the processor may include one or more processing units. For example, the system at least comprises two processing units, one processing unit controls the information acquisition camera 7 to take a picture, and the other processing unit processes the coordinates of the product 4 in the picture, so that the shooting and processing efficiency is improved.
Referring to fig. 1 and 2, a workbench 1 of the full-automatic visual positioning and transferring device of the embodiment of the invention is provided with a registration hole 12, the registration hole 12 is provided with a first transparent marking plate 2, and the first transparent marking plate 2 is provided with a first fixed marking point; a fixed point camera 6 is arranged below the alignment hole 12; the carrying device 3 is provided with a second transparent mark plate 5, and the second transparent mark plate 5 is provided with a second fixed mark point. Based on this, the fixed point camera 6 confirms that the first fixed mark point and the second fixed mark point are overlapped in the vertical direction, records the mechanical coordinate of the carrying device 3 at the moment, and then establishes the relation between the mechanical coordinate of the carrying device 3 corresponding to the second fixed mark point and the mechanical coordinate of the transfer device according to the mechanical coordinate of the transfer device at the first fixed mark point. In this way, the mechanical coordinate of the product 4 corresponding to the carrying device 3 is calculated by taking the position of the second fixed mark point of the carrying device 3 at the first fixed mark point as a reference, and the mechanical coordinate of the product 4 corresponding to the carrying device 3 can be related to the mechanical coordinate of the transfer device, so that the purposes of simplifying coordinate calculation, optimizing program structure and improving calculation performance are achieved. In addition, the carrying device 3 is provided with a product 4 fixing area, the product 4 fixing area is used for placing a plurality of products 4, and the processor is also used for controlling the transfer device to transfer the products 4 one by one when the processor calculates the mechanical coordinates of all the products 4 relative to the transfer device. That is to say, in the process of using the full-automatic vision positioning transfer apparatus according to the embodiment of the present invention, the mechanical coordinates of all the products 4 on the carrying device 3 relative to the transfer device are obtained, then the transfer device is controlled to transfer all the products 4 one by one, and the positioning and the transfer of the plurality of products 4 are respectively and collectively processed, so that the production efficiency can be effectively improved.
As can be seen from the above, the fully automatic visual positioning transfer apparatus according to the embodiment of the present invention establishes a relationship between the mechanical coordinates of the loading device 3 and the mechanical coordinates of the transfer device, simplifies coordinate calculation, optimizes a program structure, improves calculation performance, and improves production efficiency by performing centralized positioning and transfer on a plurality of products 4.
The mechanical coordinates of the carrier device 3 are coordinate values determined with reference to the origin of the transmission mechanism of the carrier device 3, which is assumed from the viewpoint of customers. The mechanical coordinates of the transfer device are coordinate values determined with reference to an origin of a transmission mechanism of the transfer device, which is a hypothetical perspective. The first fixed mark point may be an origin of the full-automatic vision positioning and transferring apparatus, that is, the mechanical coordinates of the object carrying device 3 and the transmission mechanism corresponding to the transferring device at the first fixed mark point are both respective coordinate origins, which may simplify coordinate calculation.
It should be understood that the arrangement of the products 4 on the fixed area of the product 4 is not necessarily strictly distributed in an array due to the placement error, and in order to ensure the accurate coordinates of the products 4 as much as possible, the products 4 on the row or column are subjected to a linear mode, and the position of the fixed area of the products 4 is adjusted to be consistent with the corresponding moving direction of the carrying device 3. In detail, as shown in fig. 1 and 2, the carrying device 3 includes a supporting plate 31 and a fixing jig 32, the supporting plate 31 is provided with an installation opening, the fixing jig 32 is rotatably connected with the supporting plate 31 at the installation opening, and the fixing area of the product 4 is located on the fixing jig 32. At this time, when the products 4 in the photo are fully paved in the row direction and the column direction, the processor can also perform linear fitting on the coordinates of each row of products 4 in the photo, and calculate the average value of the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line, and can control the fixed jig 32 to rotate at a preset angle so that the preset fitting straight line is parallel to the row direction. Or, when the products 4 in the photo are fully paved in the row direction and the column direction, the processor can also perform linear fitting on the coordinates of each column of the products 4 in the photo, and calculate the average value of the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line, and can control the fixed jig 32 to rotate at a preset angle, so that the preset fitting straight line is parallel to the column direction. From the above, by performing linear simulation on the coordinates of the rows of products 4 or the coordinates of the columns of products 4 on the fixed area of the products 4 and integrally adjusting the angles of the rows of products 4, it is ensured that the obtained coordinate relationships between all the products 4 and the second fixed mark points are relatively accurate, and further, it is ensured that the accuracy of finally calculating the mechanical coordinates of all the products 4 relative to the transfer device is relatively high, and accurate positioning is realized.
It should be noted that the coordinates of the product 4 may be coordinates obtained by establishing a coordinate system at any point on the photo, or may be mechanical coordinates of the product 4 corresponding to the object carrying device 3, and the mechanical coordinates of all the products 4 in the photo corresponding to the object carrying device 3 may be obtained from actual mechanical coordinates of the object carrying device 3 when the photo is taken and a coordinate relationship between the product 4 and the second fixed mark point, and the specific process is consistent with the following process of obtaining the mechanical coordinates of the object carrying device 3 corresponding to all the products 4, and is not described herein again.
Furthermore, the carrying device 3 further includes a positioning block 33, the positioning opening is located on the positioning block 33, the positioning block 33 is fixedly connected with the supporting plate 31, and the orthographic projection of the supporting plate 31 on the surface of the worktable 1 is rectangular; in the orthographic projections of the supporting plate 31 and the positioning block 33 on the workbench 1, the distance between the center of the mounting opening and the first side edge of the supporting plate 31 is greater than the distance between the center of the mounting opening and other side edges, the positioning block 33 is positioned on one side of the mounting opening far away from the first side edge, and the bisector of the first side edge passes through the center of the mounting opening and the second fixed marking point of the second transparent marking plate 5 on the positioning block 33; the first side is the side of the support plate 31 corresponding to the orthographic projection of the side of the transmission structure on the work table 1, and in particular, the first side is also the short side of the rectangle. In this case, the mounting opening is arranged adjacent to the side of the support plate 31 remote from the transmission structure, i.e. the fixing area of the product 4 is adjacent to the edge of the support plate 31 remote from the transmission structure. At this time, the change of the supporting plate 31 caused by thermal expansion and cold contraction is mainly concentrated in the direction perpendicular to the first side edge, and because the positioning block 33 is located on the side of the mounting opening away from the first side edge, and the bisector of the first side edge passes through the center of the mounting opening and the corresponding second fixed mark point on the positioning block 33, the error influence of the thermal expansion and cold contraction of the supporting plate 31 on the position coordinate of the product 4 can be effectively reduced.
The products 4 may be any one of chips, IC boards, and LEDs, however, the feature points (mark points convenient for image capture) of different products 4 are different, and in order to make the images of various products 4 clear and ensure the visual precision, as shown in fig. 2, the full-automatic visual positioning and transferring apparatus according to the embodiment of the present invention further includes a plurality of background boards 11 with different colors, the background boards 11 are disposed on the workbench 1, and the processor can identify the products 4 and select the background board 11 with the color matched with the products 4 according to the products 4. In this way, different products 4 can select the background plate 11 with the corresponding color, the applicable range of the types of the products 4 is expanded, and meanwhile, the hardware does not need to be stopped to switch the background color, and the automatic operation can be realized.
In some embodiments, the fully automatic visual positioning transfer device of the embodiments of the present invention further includes an alarm unit, and the processor is electrically connected to the alarm unit and capable of controlling the alarm unit to alarm. Illustratively, the processor can control an alarm unit to alarm when no product 4 is present on the fixed area of the product 4, to remind the operator to place the product 4. The alarm unit can be a sound alarm, a light alarm and the like.
The embodiment of the invention also provides a control method of the full-automatic vision positioning transfer equipment, which is used for the full-automatic vision positioning transfer equipment and comprises the following steps: a coordinate association step, wherein the coordinate association step comprises: obtaining a first coordinate, wherein the first coordinate is a mechanical coordinate of the transfer device at a first fixed marking point; controlling the carrying device to move above the first transparent marking plate, enabling the first fixed marking point and the second fixed marking point to be overlapped in the vertical direction, and recording the mechanical coordinate of the carrying device to obtain a second coordinate; a product identification step, wherein the product identification step comprises: controlling the information acquisition camera to move above the carrying device, enabling the second fixed mark point to be located at the center of the information acquisition camera, recording the mechanical coordinate of the carrying device, and obtaining a third coordinate; controlling a preset point of the carrying device to move below the information acquisition camera and taking a picture; judging whether a product exists in the photo; when no product exists in the photo, controlling the object carrying device to move according to the first preset track, and updating the photo until the product appears in the photo; when a product exists in the photo, executing a product coordinate identification step; a product coordinate identification step, wherein the product coordinate identification step comprises the following steps: acquiring coordinate relations between all products and the third coordinate, and acquiring mechanical coordinates of the loading devices corresponding to all products according to the third coordinate and the coordinate relations between all products and the third coordinate; according to the first coordinate, the second coordinate and the mechanical coordinates of the carrying devices corresponding to all the products, the mechanical coordinates of the transferring devices corresponding to all the products are obtained; a product transfer step, the product transfer step comprising: and controlling the transfer device to transfer the products one by one according to the mechanical coordinates of all the products corresponding to the transfer device.
Compared with the prior art, the beneficial effects of the control method of the full-automatic visual positioning transfer device provided by the embodiment of the invention are the same as the beneficial effects of the full-automatic visual positioning transfer device provided by the technical scheme, and are not repeated herein.
Specifically, referring to fig. 3 and 4, the control method of the fully automatic vision positioning transfer apparatus according to the embodiment of the present invention includes the following steps:
step S100, a coordinate association step, which specifically comprises:
step S110, a first coordinate is obtained, where the first coordinate is a mechanical coordinate of the transfer device at the first fixed mark point. Here, the first fixed mark point may be an alignment origin of the transfer device, that is, the first coordinate may be directly obtained. In addition, the first coordinate can also be obtained by recording the coordinate when the transfer device moves to the position of the second fixed marking point when the positioning camera confirms that the second fixed marking point is coincident with the first fixed marking point.
And step S120, controlling the object carrying device to move above the first transparent marking plate, enabling the first fixed marking point and the second fixed marking point to be overlapped in the vertical direction, recording the mechanical coordinate of the object carrying device, and obtaining a second coordinate.
Step S200, product identification step, which specifically comprises:
and S220, controlling the information acquisition camera to move above the object carrying device, enabling the second fixed mark point to be located at the center of the information acquisition camera, recording the mechanical coordinate of the object carrying device, and obtaining a third coordinate. Here, the information collecting camera may take a picture to record the position of the second fixed mark point in the picture of the information collecting camera.
And step S230, controlling the preset point of the object carrying device to move to the position below the information acquisition camera, and taking a picture. Wherein, the shot picture is rectangular. Here, the preset point may be the center of the supporting plate of the carrying device, or may be any position of the product fixing area.
Step S240, determining whether a product exists in the photo.
And step S241, when no product exists in the picture, controlling the object carrying device to move according to the first preset track, and updating the picture until the product appears in the picture. The end of the first preset trajectory movement may cause all positions of the product fixed area to have been photographed by the information capturing camera once. The first preset track may run intermittently at a preset displacement in a staggered manner along the row and column direction, and the information collecting camera is controlled to take a picture once every time the first preset track moves once, and step S230 is executed again until all positions of the product fixing area of the object carrying device are taken once by the information collecting camera or until a product appears in the picture. Here, the preset displacement in the row direction cannot be greater than the size of the photograph in the transverse direction corresponding to the size on the carrier device and the preset displacement in the column direction cannot be greater than the size of the photograph in the longitudinal direction corresponding to the size on the carrier device. When the product exists in the photo, step S300 is executed.
Step S300, product coordinate identification, specifically comprising:
and step S320, obtaining the coordinate relation between all the products and the third coordinate. That is, the relationship between the corresponding machine coordinates at all product positions and the corresponding machine coordinates at the second location point is obtained.
And step S330, obtaining the mechanical coordinates of the carrying devices corresponding to all the products according to the third coordinates and the coordinate relations between all the products and the third coordinates.
And step S340, acquiring the mechanical coordinates of the transfer device corresponding to all the products according to the first coordinates, the second coordinates and the mechanical coordinates of the carrying device corresponding to all the products.
Step S400, a product transferring step, which specifically comprises the following steps:
and step S410, controlling the transfer device to transfer the products one by one according to the mechanical coordinates of the transfer device corresponding to all the products. Here, the specific process of transferring all the products is not limited, and the camera may be removed, only the transferring device may move, or the transferring device and the carrying device may move together, which is not limited herein.
It should be understood that the manner of obtaining the coordinate relationship between all products and the third coordinate is not unique. For example, the field of view of the information collecting camera is smaller than the product fixing area, as shown in fig. 5, the step S320 specifically includes:
step S321: and judging whether the products in the photo are fully paved in the row direction and the column direction. Here, the space between all products is not considered, that is, whether or not the photograph has taken the margin of the entirety after all products are distributed in the set is determined, as the space is filled in the row direction and the column direction.
Step S322: and when the products in the photo are fully paved in the row direction and the column direction, controlling the carrying device to move along the first direction, and updating the photo until the products in the photo are not fully paved in the first direction, wherein the first direction is the row direction or the column direction. Illustratively, the loading device moves in the first direction by a first fixed displacement amount, controls the information-collecting camera to take a picture once per movement, and re-executes step S321. Here, the first fixed displacement cannot be larger than the dimension of the photograph in the first direction, which corresponds to the dimension on the carrier device.
Step S323: and when the products in the photos are not fully paved in the row direction and the products in the photos are fully paved in the column direction, controlling the carrying device to move along the column direction, and updating the photos until the products in the photos are not fully paved in the column direction. Illustratively, the carrier device moves in the column direction by a second fixed displacement amount, controls the information-collecting camera to take a picture once per movement, and re-executes step S321. Here, the second fixed displacement cannot be larger than the dimension of the photograph in the column direction, which corresponds to the dimension on the carrier device.
Step S324: and when the products in the photo are fully paved in the row direction and the products in the photo are not fully paved in the column direction, controlling the carrying device to move along the row direction, and updating the photo until the products in the photo are not fully paved in the row direction. Illustratively, the carrier device moves in the row direction by a third fixed displacement amount, controls the information-collecting camera to take a picture once per movement, and re-executes step S321. Here, the third fixed displacement cannot be larger than the dimension of the photograph in the row direction, which corresponds to the dimension on the carrier device.
Step S325: when the products in the photo are not fully paved in the row direction and the column direction, namely the photo only comprises one corner where all the products are distributed in a concentrated mode, the object carrying device is controlled to move according to a second preset track, the photo is taken once when the photo moves for a preset distance, and the mechanical coordinate of the object carrying device corresponding to each photo is recorded until all the products are shot. Here, the second predetermined trajectory motion may be a staggered motion in the row and column directions intermittently at a predetermined displacement amount, and each time the second predetermined trajectory motion moves, the information capturing camera is controlled to capture a photo until all the products are captured. Here, the preset displacement in the row direction cannot be greater than the size of the photograph in the transverse direction corresponding to the size on the carrier device and the preset displacement in the column direction cannot be greater than the size of the photograph in the longitudinal direction corresponding to the size on the carrier device.
Step S326: and obtaining the coordinate relation between all the products and the third coordinate according to the pictures shot in the second preset track and the mechanical coordinates of the carrying device corresponding to the pictures.
It should be noted that, in the case that the field of view of the information collecting camera is greater than or equal to the product fixing area, the obtaining step S320 includes: judging whether the photo contains all products, and controlling the object carrying device to move in a set track when the photo does not contain all products until the photo contains all products; when the photo contains all products, the coordinates are recorded, and the coordinate relationship between all products and the third coordinate is obtained.
In some embodiments, the object carrying device includes a supporting plate and a fixing fixture, the supporting plate is provided with a mounting opening, the fixing fixture is rotatably connected with the supporting plate at the mounting opening, and the product fixing area is located on the fixing fixture. At this time, as shown in fig. 6, before step S320, step S300 further includes:
step S310, judging whether the products in the photo are fully paved in the row direction and the column direction. Here, the space between all products is not considered, that is, whether or not the photograph has taken the margin of the entirety after all products are distributed in the set is determined, as the space is filled in the row direction and the column direction.
Step 311, when the products in the photo are not fully spread in the row direction and the column direction, controlling the carrying device to move along the first direction, and updating the photo until the products in the photo are fully spread in the first direction, wherein the first direction is the row direction or the column direction. Illustratively, the loading device moves along the first direction by a first fixed displacement amount, and once every time the loading device moves, the information collecting camera is controlled to take a picture, and step S310 is executed again. Here, the first fixed displacement cannot be larger than the dimension of the photograph in the first direction, which corresponds to the dimension on the carrier device.
And S312, when the products in the photo are fully paved in the row direction and the products in the photo are not fully paved in the column direction, controlling the carrying device to move in the column direction, and updating the photo until the products in the photo are fully paved in the column direction. Illustratively, the carrier device moves in the column direction by a second fixed displacement amount, controls the information-collecting camera to take a picture once per movement, and re-executes step S310. Here, the second fixed displacement cannot be larger than the dimension of the photograph in the column direction, which corresponds to the dimension on the carrier device.
And step 313, when the products in the photo are not fully paved in the row direction and the products in the photo are fully paved in the column direction, controlling the carrying device to move in the row direction, and updating the photo until the products in the photo are fully paved in the row direction. Illustratively, the carrier device moves in the row direction by a third fixed displacement amount, controls the information-collecting camera to take a picture once per movement, and re-executes step S310. Here, the third fixed displacement cannot be larger than the dimension of the photograph in the row direction, which corresponds to the dimension on the carrier device.
Step S314, when the products in the photo are fully paved in the row direction and the column direction, performing linear fitting on the coordinates of each row of products in the photo, and averaging the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line; controlling the fixed jig to rotate at a preset angle so that a preset fitting straight line is parallel to the row direction; or, performing linear fitting on the coordinates of each row of products in the comparison sheet, averaging the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line, and controlling the fixed jig to rotate at a preset angle so as to enable the preset fitting straight line to be parallel to the row direction. The coordinates of the product in the photograph may be mechanical coordinates of the product in the photograph relative to the object carrying device, and may be obtained by calculation according to the actual mechanical coordinates of the object carrying device when the photograph is taken, the photograph, and the third coordinates, which are not described in detail herein.
Further, the above-mentioned fully automatic visual positioning transfer apparatus further includes a plurality of background plates of different colors, the background plates being disposed on the worktable, and referring to fig. 3 and 4, before step 220, step 200 further includes:
step S210, controlling the object carrying device to move, so that the second fixed mark point is located right above the background plate with the preset color. Here, the background plate with the color corresponding to different products may be obtained through testing in advance, and the color of the background plate corresponding to different products is not limited herein.
Further, the fully automatic visual positioning transfer apparatus further includes an alarm unit, referring to fig. 3 and 4, step S200 further includes:
and step S242, when the object carrying device moves according to the first preset track and no product exists in the picture, controlling an alarm unit to give an alarm. That is to say, until all positions of the product fixing area of the carrying device are photographed by the information acquisition camera for one time, the product is not found, and the alarm unit is controlled to give an alarm.
It should be noted that, in a possible implementation manner, after steps S210 and S220 are executed, the information collecting camera is further controlled to take a picture for recognition, whether the recognition is successful is determined, and if yes, step S220 is continuously executed; if not, the alarm unit is controlled to alarm.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A fully automated vision-positioning transfer apparatus, comprising:
the workbench is provided with a registration hole;
the first transparent marking plate is arranged at the position aligning hole; the first transparent marking plate is provided with a first fixed marking point;
the carrying device is provided with a product fixing area and a positioning opening, the product fixing area comprises a plurality of product fixing positions arranged in a matrix array, and each product fixing position is used for placing a product; the carrying device can move along the row direction and the column direction of the matrix array;
the second transparent marking plate is fixed on the positioning opening and provided with a second fixed marking point;
the fixed point camera is arranged right below the alignment hole and used for confirming whether the first fixed marking point and the second fixed marking point are overlapped or not;
the lens of the information acquisition camera faces the workbench and can move along the row direction and the column direction of the matrix array;
a transfer device for transferring the product;
the processor is electrically connected with the transfer device, the information acquisition camera, the fixed point camera and the carrying device, can control the carrying device and the information acquisition camera to move along the row direction and the column direction and control the information acquisition camera to take pictures, and can acquire the mechanical coordinate of the transfer device when the first fixed mark point is located, the mechanical coordinate of the carrying device when the second fixed mark point is located at the first fixed mark point and the coordinate relationship between all products and the second fixed mark point; calculating the mechanical coordinates of all products relative to the transfer device according to the mechanical coordinates of the transfer device when the transfer device is at the first fixed mark point, the mechanical coordinates of the carrying device when the second fixed mark point is at the first fixed mark point and the coordinate relationship between all products and the second fixed mark point;
wherein when the processor calculates the mechanical coordinates of all the products relative to the transfer device, the processor is further configured to control the transfer device to transfer the products one by one.
2. The full-automatic vision positioning and transferring equipment according to claim 1, wherein the carrying device comprises a supporting plate and a fixing jig, the supporting plate is provided with an installation opening, the fixing jig is rotatably connected with the supporting plate at the installation opening, and the product fixing area is located on the fixing jig;
when the products in the photo are fully paved in the row direction and the column direction, the processor can also perform linear fitting on the coordinates of each row of products in the photo, calculate the average value of the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line, and control the fixed jig to rotate at a preset angle so that the preset fitting straight line is parallel to the row direction;
or when the products in the photo are fully paved in the row direction and the column direction, the processor can also perform linear fitting on the coordinates of each column of products in the photo, calculate the average value of the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line, and control the fixed jig to rotate at a preset angle so that the preset fitting straight line is parallel to the column direction.
3. The full-automatic vision positioning and transferring device according to claim 2, wherein the carrying device further comprises a positioning block, the positioning opening is located on the positioning block, the positioning block is fixedly connected with the supporting plate, and the orthographic projection of the supporting plate on the surface of the workbench is rectangular;
in orthographic projections of the supporting plate and the positioning block on the workbench, the distance between the center of the mounting opening and the first side edge of the supporting plate is greater than the distance between the center of the mounting opening and other side edges, the positioning block is positioned on one side of the mounting opening far away from the first side edge, and a bisector of the first side edge penetrates through the center of the mounting opening and the second fixed marking point of the second transparent marking plate on the positioning block; the first side edge is an edge corresponding to an orthographic projection of one side, used for connecting the transmission structure, of the supporting plate on the workbench.
4. The automatic vision positioning transfer device of claim 2, further comprising a plurality of background plates of different colors, wherein the background plates are disposed on the worktable, and the processor is capable of identifying a product and selecting a background plate of a color matching the product according to the product.
5. The fully automatic visual positioning transfer device of claim 1, further comprising an alarm unit, wherein the processor is electrically connected with the alarm unit, and the processor can control the alarm unit to alarm.
6. A control method of a fully automatic vision positioning transfer device, which is used for the fully automatic vision positioning transfer device according to any one of claims 1 to 5, and is characterized by comprising the following steps:
a coordinate association step, comprising: obtaining a first coordinate, wherein the first coordinate is a mechanical coordinate of the transfer device at a first fixed marking point; controlling the carrying device to move above the first transparent marking plate, enabling the first fixed marking point and the second fixed marking point to be overlapped in the vertical direction, recording the mechanical coordinate of the carrying device, and obtaining a second coordinate;
a product identification step, comprising: controlling the information acquisition camera to move above the object carrying device, enabling the second fixed mark point to be located at the center of the information acquisition camera, recording a mechanical coordinate of the object carrying device, and obtaining a third coordinate; controlling a preset point of the object carrying device to move to the position below the information acquisition camera, and taking a picture; judging whether a product exists in the photo; when no product exists in the photo, controlling the carrying device to move according to a first preset track, and updating the photo until the product appears in the photo; when a product exists in the picture, executing a product coordinate identification step;
a product coordinate recognition step, the product coordinate recognition step comprising: obtaining the coordinate relation between all the products and the third coordinate, and obtaining the mechanical coordinates of all the products corresponding to the carrying device according to the third coordinate and the coordinate relation between all the products and the third coordinate; according to the first coordinate, the second coordinate and the mechanical coordinate of all the products corresponding to the carrying device, obtaining the mechanical coordinate of all the products corresponding to the transferring device;
a product transfer step, the product transfer step comprising: and controlling the transfer device to transfer the products one by one according to the mechanical coordinates of all the products corresponding to the transfer device.
7. The control method of the full-automatic visual positioning transfer equipment according to claim 6, wherein the field of view of the information collecting camera is smaller than the product fixing area, and the obtaining the coordinate relationship between all the products and the third coordinate comprises:
judging whether the products in the photo are fully paved in the row direction and the column direction;
when the products in the photo are fully paved in the row direction and the column direction, controlling the carrying device to move along the first direction, and updating the photo until the products in the photo are not fully paved in the first direction, wherein the first direction is the row direction or the column direction;
when the products in the photo are not fully paved in the row direction and the products in the photo are fully paved in the column direction, controlling the carrying device to move in the column direction, and updating the photo until the products in the photo are not fully paved in the column direction;
when the products in the photo are fully paved in the row direction and the products in the photo are not fully paved in the column direction, controlling the carrying device to move in the row direction, and updating the photo until the products in the photo are not fully paved in the row direction;
when the products in the photos are not fully paved in the row direction and the column direction, controlling the carrying device to move according to a second preset track, taking the photos once when the photos move for a preset distance, and recording the mechanical coordinates of the carrying device corresponding to each photo until all the products are completely photographed;
and obtaining the coordinate relation between all the products and the third coordinate according to the pictures shot in the second preset track and the corresponding mechanical coordinates of the object carrying device.
8. The control method of the full-automatic vision positioning and transferring equipment according to claim 6, wherein the carrying device comprises a supporting plate and a fixing jig, the supporting plate is provided with an installation opening, the fixing jig is rotatably connected with the supporting plate at the installation opening, and the product fixing area is positioned on the fixing jig; before the obtaining of the coordinate relationship between all products and the third coordinate, the product coordinate identifying step further includes:
judging whether the products in the photo are fully paved in the row direction and the column direction;
when the products in the photo are not fully paved in the row direction and the column direction, controlling the object carrying device to move along a first direction, and updating the photo until the products in the photo are fully paved in the first direction, wherein the first direction is the row direction or the column direction;
when the products in the photo are fully paved in the row direction and the products in the photo are not fully paved in the column direction, controlling the carrying device to move in the column direction, and updating the photo until the products in the photo are fully paved in the column direction;
when the products in the photo are not fully paved in the row direction and the products in the photo are fully paved in the column direction, controlling the carrying device to move in the row direction, and updating the photo until the products in the photo are fully paved in the row direction;
when the products in the photo are fully paved in the row direction and the column direction, performing linear fitting on the coordinates of each row of products in the photo, averaging the slopes of a plurality of linear fitting straight lines to obtain a preset fitting straight line, and controlling the fixed jig to rotate at a preset angle so that the preset fitting straight line is parallel to the row direction; or, performing linear fitting on the coordinates of each row of products in the photo, averaging the slopes of the obtained linear fitting straight lines to obtain a preset fitting straight line, and controlling the fixed jig to rotate at a preset angle so as to enable the preset fitting straight line to be parallel to the row direction.
9. The control method of the fully automatic vision positioning transfer device according to claim 6, wherein the fully automatic vision positioning transfer device further comprises a plurality of background plates with different colors, the background plates are arranged on the worktable, and before the step of controlling the information collecting camera to move to the upper side of the object carrying device, enabling the second fixed marking point to be located at the center of the information collecting camera, recording the mechanical coordinates of the object carrying device, and obtaining the third coordinates, the product identification step further comprises:
and controlling the carrying device to move so that the second fixed mark point is positioned right above the background plate with a preset color.
10. The control method of the fully automatic vision positioning transfer device according to claim 6, wherein the fully automatic vision positioning transfer device further comprises an alarm unit, and the product identification step further comprises: and when the object carrying device moves according to a first preset track and no product exists in the picture, controlling the alarm unit to alarm.
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