CN115922732A - FPC automatic assembly control method, device and system and electronic equipment - Google Patents
FPC automatic assembly control method, device and system and electronic equipment Download PDFInfo
- Publication number
- CN115922732A CN115922732A CN202310036014.8A CN202310036014A CN115922732A CN 115922732 A CN115922732 A CN 115922732A CN 202310036014 A CN202310036014 A CN 202310036014A CN 115922732 A CN115922732 A CN 115922732A
- Authority
- CN
- China
- Prior art keywords
- fpc
- assembly
- lower computer
- assembled
- point cloud
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 81
- 230000008569 process Effects 0.000 claims abstract description 37
- 238000004891 communication Methods 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 24
- 230000035772 mutation Effects 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 abstract description 3
- 238000004422 calculation algorithm Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 20
- 238000012360 testing method Methods 0.000 description 15
- 238000012800 visualization Methods 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 3
- 239000013598 vector Substances 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Manipulator (AREA)
Abstract
The embodiment of the application discloses an FPC automatic assembly control method, device and system and electronic equipment. The control method comprises the following steps: establishing communication connection with a lower computer and the 3D camera respectively; responding to an assembly request of a lower computer to a certain FPC, controlling a 3D camera to collect a point cloud image before the FPC is assembled, and displaying the point cloud image before the FPC is assembled on a display screen; and calculating the grabbing position of the FPC according to the point cloud image before the FPC is assembled, and returning the grabbing position of the FPC and the information of the assembling point of the FPC to a lower computer so as to control the lower computer to guide a mechanical hand to complete grabbing and assembling of the FPC according to the grabbing position of the FPC and the information of the assembling point of the FPC. This application scheme has realized that the 3D in the equipment process is visual, can eliminate the discernment deviation to FPC flexible flat cable position on the mainboard, improves the manipulator and snatchs FPC's position accuracy, reduces and snatchs the number of times.
Description
Technical Field
The application belongs to the technical field of FPC (flexible printed circuit) automatic assembly, and particularly relates to a method, a device and a system for controlling FPC automatic assembly and electronic equipment.
Background
With the advent of the meta universe concept, market demand for VR devices has also been met, and assembly of a Flexible Printed Circuit (FPC) is crucial in the manufacturing process of VR devices. Because consumer electronics are becoming lightweight day by day to and the function of VR equipment is becoming abundant day by day, FPC on the VR equipment mainboard is more and more, also is more and more littleer simultaneously, and the FPC equipment degree of difficulty and equipment requirement also are the ship height that rises with water. The traditional manual assembly is difficult to quantify, the quality is difficult to ensure to be qualified, and the manipulator replaces manual work and realizes the automatic assembly of the FPC, so that the FPC assembling method is an excellent solution.
However, because the number of FPCs on the VR equipment mainboard is large, and the size is small, at present in the automatic assembly process of FPC, there is FPC soft arranging wire position identification deviation, and the manipulator snatchs the position of FPC and is not accurate enough, sometimes need snatch the problem many times.
Disclosure of Invention
The application provides an FPC automatic assembly control method, device and system and electronic equipment, which can solve the problems of FPC soft flat cable position identification deviation and inaccurate FPC grabbing position.
According to a first aspect of the present application, there is provided an FPC automated assembly control method, including:
establishing communication connection with a lower computer and a 3D camera respectively;
responding to an assembly request of a lower computer to a certain FPC, controlling a 3D camera to collect a point cloud image before the FPC is assembled, and displaying the point cloud image before the FPC is assembled on a display screen;
and calculating the grabbing position of the FPC according to the point cloud image before the FPC is assembled, and returning the grabbing position of the FPC and the information of the assembling point of the FPC to a lower computer so as to control the lower computer to guide a mechanical arm to complete grabbing and assembling of the FPC according to the grabbing position of the FPC and the information of the assembling point of the FPC.
According to a second aspect of the present application, there is provided an FPC automated assembly control device, comprising:
the communication connection unit is used for respectively establishing communication connection with the lower computer and the 3D camera;
the pre-assembly point cloud image acquisition and display unit is used for responding to an assembly request of a lower computer to a certain FPC, controlling a 3D camera to acquire a point cloud image before the FPC is assembled and displaying the point cloud image before the FPC is assembled on a display screen;
the grabbing position calculating unit is used for calculating the grabbing position of the FPC according to the point cloud image before the FPC is assembled;
and the position data returning unit is used for returning the grabbing position of the FPC and the position information of the assembling point of the FPC to a lower computer so as to control the lower computer to guide the manipulator to grab and assemble the FPC according to the grabbing position of the FPC and the position information of the assembling point of the FPC.
According to a third aspect of the application, an FPC automatic assembly control system is provided, which comprises an upper computer, a lower computer, a 3D camera, a 2D camera and a manipulator, wherein the upper computer is in communication connection with the lower computer, the 3D camera and the 2D camera respectively, and the lower computer is in communication connection with the manipulator;
the upper computer is used for operating the FPC automatic assembly control method;
the lower computer is used for sending an assembly request of a certain FPC to the upper computer and guiding the manipulator to complete the grabbing and assembly of the FPC according to the grabbing position of the FPC and the assembly point position information of the FPC returned by the upper computer; and sending a detection request of a certain FPC to the upper computer, and receiving result data of correct or wrong assembly returned by the upper computer.
According to a fourth aspect of the present application, there is provided an electronic device comprising: a processor and a memory storing computer instructions;
and the processor executes the FPC automatic assembly control method when the computer instruction is executed.
According to a fifth aspect of the present application, there is provided a computer-readable storage medium storing one or more programs which, when executed by an electronic device, cause the electronic device to execute the foregoing FPC automated assembly control method.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
when the FPC is assembled, the 3D camera is controlled to collect point cloud images before the FPC is assembled, the point cloud images before the FPC is assembled are displayed on a display screen, the grabbing position of the FPC is calculated according to the point cloud images before the FPC is assembled, then the point cloud images are returned to a lower computer together with the information of the assembling point of the FPC, so that the lower computer is controlled to guide the manipulator to complete grabbing and assembling of the FPC, 3D visualization in the assembling process is achieved, the identification deviation of the position of the FPC soft arranging wire on a mainboard can be eliminated, the grabbing position of the FPC is calculated according to the 3D point cloud images, the calculated FPC grabbing position has 3D space information, the lower computer is conveniently controlled to adjust the space grabbing gesture of the manipulator according to the FPC grabbing position, the position accuracy of the manipulator grabbing the FPC is improved, and grabbing times are reduced.
Drawings
In order to more clearly illustrate the technical solutions in the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings. Like reference symbols in the various drawings indicate like elements throughout.
Fig. 1 is a schematic flowchart of an FPC automatic assembly control method according to an embodiment of the present application;
FIG. 2 is a schematic view of a point cloud image before FPC assembly according to an embodiment of the present disclosure;
FIG. 3 is a graphical representation of a time line of force control data as provided in the first preferred embodiment of the present application;
FIG. 4 is a schematic view of an assembled point cloud image of an FPC according to a second preferred embodiment of the present application;
FIG. 5 is a schematic flow chart of the algorithm process for the point cloud image inputted by the 3D camera according to the second preferred embodiment of the present application;
FIG. 6 is a schematic diagram of a parameter configuration interface according to a fourth preferred embodiment of the present application;
FIG. 7 is a diagram illustrating a fourth preferred embodiment of the present application showing direct parameter configuration;
fig. 8 is a schematic diagram of a visualization parameter configuration according to a fourth preferred embodiment of the present application;
FIG. 9 is a schematic diagram of a teaching scenario presented in an embodiment of the present application;
FIG. 10 is a schematic view of the front and back sides of an FPC according to an embodiment of the present application;
FIG. 11 is a schematic diagram of the authority of an administrator and an operator, respectively, given the software of the present application;
FIG. 12 is a schematic view of a manual test interface presented by the software of the present application;
FIG. 13 is a schematic diagram of an automated test interface presented by the software of the present application;
FIG. 14 is a flow chart of the operation of the software of the present application;
fig. 15 is a schematic structural diagram of an FPC automatic assembly control device according to an embodiment of the present application;
fig. 16 is a schematic structural diagram of an FPC automatic assembly control system according to an embodiment of the present application;
fig. 17 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The FPC automatic assembly control method is executed by an upper computer. The upper computer is a computer which can directly send out an operation control command, and the lower computer is a computer which directly controls the manipulator or the terminal actuator and acquires the state of the manipulator or the terminal actuator. An industrial personal computer, a workstation and an operating platform are generally used as an upper computer; a Programmable Logic Controller (PLC), a single chip microcomputer, etc. as the lower computer.
Fig. 1 is a schematic flow chart of an FPC automated assembly control method according to an embodiment of the present application. As shown in fig. 1, the FPC automatic assembly control method provided in the embodiment of the present application at least includes the following steps S110 to S130:
and step S110, establishing communication connection with the lower computer and the 3D camera respectively.
Before the FPC is automatically assembled, the upper computer needs to send communication connection requests to the lower computer and the 3D camera respectively, after connection responses of the upper computer and the lower computer are received, communication connection is established with the lower computer and the 3D camera respectively, so that control instructions are sent to the lower computer and the 3D camera respectively in the assembling process, results executed by the lower computer and the 3D camera according to the control instructions are received, and the like.
The established communication connection may be a wired connection, or a wireless connection, or a wired or wireless connection is respectively established according to actual situations, and the communication connection manner is not limited in the present application.
And step S120, responding to an assembly request of a lower computer to a certain FPC, controlling a 3D camera to collect the point cloud image before the FPC is assembled, and displaying the point cloud image before the FPC is assembled on a display screen.
There are typically multiple FPCs to be assembled on the motherboard. When the lower computer sends a PLC assembly request to the upper computer, information of a specific FPC needs to be carried. In order to distinguish the FPCs on the motherboard, the FPCs may be numbered or named, or an assembly sequence of the FPCs may be determined in advance, and a specific FPC to be assembled each time may be determined according to the assembly sequence.
And responding to an assembly request of the lower computer to a certain FPC, and controlling the 3D camera to collect the point cloud image before the FPC is assembled by the upper computer. Specifically, the upper computer controls the 3D camera to move right above a specific FPC, and after the photographing posture of the 3D camera is determined according to the preset parameters, the photographing request of the assembly position is sent to the 3D camera, and the photographing request carries information of the specific FPC.
The 3D camera returns the point cloud data obtained by photographing to the upper computer, and the point cloud data represents a set of vectors of each sampling point on the surface of the object in a three-dimensional coordinate system, the vectors are usually expressed in the form of X, Y and Z three-dimensional coordinates, and some vectors may also contain color information (RGB) or reflection Intensity information (Intensity).
At the moment, the 3D camera inputs a point cloud image before FPC assembly to the upper computer. Fig. 2 is a schematic view of a point cloud image before FPC assembly according to an embodiment of the present application. The upper computer displays the point cloud image before the FPC is assembled on a display screen of the upper computer, 3D visualization in the assembling process is achieved, a user can conveniently observe the position posture of the FPC before the FPC is assembled in a multi-dimensional mode, and the identification deviation of the position of the FPC flexible flat cable on the mainboard can be eliminated.
And S130, calculating the grabbing position of the FPC according to the point cloud image before the FPC is assembled, and returning the grabbing position of the FPC and the information of the assembling point of the FPC to a lower computer so as to control the lower computer to guide a mechanical arm to complete grabbing and assembling of the FPC according to the grabbing position of the FPC and the information of the assembling point of the FPC.
When the upper computer calculates the grabbing position of the FPC according to the point cloud image before the FPC is assembled, some parameters configured in advance are needed, for example, in order to determine the grabbing position of the FPC in the point cloud image, parameters of an FPC grabbing range frame need to be configured in advance, and the point cloud image is roughly judged and cut through the parameters, so that calculation of a subsequent algorithm is facilitated.
When the grabbing position of the FPC is calculated according to the point cloud image before the FPC is assembled, the upper computer uses a grabbing position detection algorithm, and the algorithm relates to three layers of three-dimensional image processing: the low level comprises basic operations such as image enhancement, filtering, key point/edge detection and the like; the middle level comprises operations such as connected domain marking (label), image segmentation and the like; the high level includes operations such as object recognition, scene analysis, and the like. The capture position detection algorithm needs image processing means of multiple levels, the specific implementation is not the key point of the discussion, and the capture position detection algorithm can be implemented by adopting various mature algorithms.
In order to realize the assembly of the manipulator to the FPC, the position information of the assembly point of the FPC is also needed. And the upper computer returns the position information of the assembly point of the FPC and the calculated grabbing position of the FPC to the lower computer together so as to control the lower computer to guide the manipulator to complete grabbing and assembling of the FPC according to the two position information.
In summary, according to the automatic assembly control method for the FPC, the point cloud image before the FPC is assembled is displayed on the display screen, 3D visualization in the assembly process is achieved, the identification deviation of the position of the FPC flexible flat cable on the main board can be eliminated, and the grabbing position of the FPC is calculated according to the 3D point cloud image, so that the calculated grabbing position of the FPC has 3D spatial information, the lower computer can conveniently adjust the space grabbing gesture of the manipulator according to the grabbing position of the FPC, the position accuracy of the manipulator grabbing the FPC is improved, and the grabbing times are reduced.
In a first preferred embodiment, the FPC automated assembly control method of the present application further includes:
and in the process of controlling the lower computer to guide the manipulator to complete the grabbing and assembling of the FPC, acquiring force control data of a pressure sensor arranged on the manipulator, and synchronously displaying a time axis curve of the force control data on a display screen.
Fig. 3 is a graphical representation of a time line of force control data according to a first preferred embodiment of the present application. The force control data is synchronously displayed on the display screen through the time axis curve, 2D visualization of force control data for grabbing the FPC by the manipulator when the FPC is assembled is achieved, and a user can analyze specific behaviors of the manipulator.
In a second preferred embodiment, the FPC automated assembly control method of the present application further includes:
responding to a detection request of a lower computer to a certain FPC, controlling a 3D camera to collect a point cloud image assembled by the FPC, and displaying the point cloud image assembled by the FPC on a display screen;
calculating the current pose of the FPC according to the point cloud image after the FPC is assembled, comparing the current pose of the FPC with a preset normal pose range of the FPC, and judging whether the current pose of the FPC is normal or not;
under the condition that the current pose of the FPC is judged to be normal, force control data of the manipulator in the process of grabbing and assembling the FPC are further combined, and whether the FPC is assembled in place is judged;
and when the force control data has force mutation, judging that the FPC is assembled in place, and returning result data with correct assembly to the lower computer, otherwise, returning result data with wrong assembly to the lower computer.
Fig. 4 is a schematic diagram of an assembled point cloud image of an FPC according to the second preferred embodiment of the present application. When the FPC assembling result is detected, the point cloud image acquired by the 3D camera and assembled by the FPC is displayed on the display screen by the upper computer, 3D visualization of the assembling result is realized, and meanwhile, the identification deviation of the position of the FPC flexible flat cable on the mainboard can be eliminated.
When the current pose of the FPC is calculated according to the point cloud image after the FPC is assembled, some parameters configured in advance are also needed, for example, in order to determine the assembly position of the FPC in the point cloud image, a parameter of the detection range of the tail end of the FPC needs to be configured in advance, and the point cloud image is roughly judged and cut through the parameter, so that the calculation of a subsequent algorithm is facilitated.
Fig. 5 is a schematic flowchart of an algorithm process performed on a point cloud image input by a 3D camera according to a second preferred embodiment of the present application. The whole algorithm processing is executed by the upper computer, as shown in fig. 5, and includes the following steps S510 to S560:
step S510, receiving a point cloud image input by the 3D camera.
Step S520, determine whether the current status is capture or detection? If it is the grab, the process proceeds to step S530, and if it is the detection, the process proceeds to step S540.
And step S530, calculating the FPC grabbing position by using a grabbing position detection algorithm, and outputting the calculation result of the FPC grabbing position to a lower computer.
Step S540, calculating the current pose of the FPC by using a pose analysis algorithm in the assembly result detection algorithm, and judging whether the calculated current pose of the FPC is normal or not;
the judgment mode can be that the calculated current pose of the FPC is compared with a preset normal pose range of the FPC, if the error is within a result judgment threshold, the current pose of the FPC is judged to be normal, and the step S550 is entered, if the error is outside the result judgment threshold, the current pose of the FPC is judged to be abnormal, and a detection result of the abnormality of the current pose of the FPC is output to a lower computer.
In step S550, force control data of the pressure sensor on the manipulator is acquired, and the process proceeds to step S560.
Step S560, analyzing whether force mutation exists in the force control data by using a pressure data analysis algorithm in the assembly result detection algorithm, if the force mutation exists in the force control data, judging that the FPC is assembled in place, and outputting a correct detection result of FPC assembly to a lower computer; and if the force control data does not have force mutation, judging that the FPC is not assembled in place, and outputting a detection result of the FPC which is not assembled in place to a lower computer.
The assembly result detection algorithm used in the second preferred embodiment of the application needs to be additionally matched with force control data of a pressure sensor on a manipulator for analysis besides the processing of 3D point cloud data, and returns a detection result that FPC is assembled correctly to a lower computer only when the current pose of the FPC is judged to be normal and the FPC is assembled in place; under the condition that the current pose of the FPC is judged to be abnormal or the FPC is not assembled in place, the upper computer returns the detection result of FPC assembling error to the lower computer, and the specific reason of the error can be given in the returned detection result of the FPC assembling error; therefore, the accuracy of the detection of the FPC assembly result by the upper computer is ensured from the two aspects of normal pose and in-place assembly.
It should be noted that, in the automatic assembly process of the FPC,
in a third preferred embodiment, the FPC automated assembly control method of the present application further includes:
establishing a communication connection with the 2D camera;
after the main board is placed on the object placing table, controlling a 2D camera to acquire a 2D image of the main board;
calculating the current position of a mark point on the mainboard which is calibrated in advance according to the 2D image of the mainboard;
determining the deviation of the placement position of the mainboard according to the position of a mark point calibrated in advance on the mainboard and the calculated current position; and the number of the first and second groups,
and correcting the position of the pre-designed assembly point of each FPC on the mainboard according to the deviation of the placement position of the mainboard, and determining the position information of the corrected assembly point of each FPC.
The step S130 of returning the information of the assembly point of the FPC to the lower computer together includes: and returning the assembly point position information after the deviation correction of the FPC to a lower computer.
The third preferred embodiment of the present application relates to a 2D vision algorithm. The 2D visual algorithm plays an important role in correcting the position in the teaching process and the actual use process. The main logic of the 2D vision algorithm is to photograph the mainboard through the 2D camera after the mainboard is fixed on the object placing table, and then recognize a Mark point (Mark point) which is calibrated in advance through the 2D vision algorithm. Although the position of the Mark point on the main board is fixed, the main board is still fixed on the object placing table with a lot of errors, so the calculated Mark point position is corrected according to the Mark point position calibrated in advance, and the errors of the Mark point can be eliminated.
This application third preferred embodiment has utilized the logic of rectifying of 2D vision algorithm, lays in putting the thing platform at the mainboard after, and the host computer rectifies to every FPC's on the mainboard equipment point position, and the calculation process of rectifying is: according to the position of a Mark point calibrated in advance on the main board and the calculated position of the Mark point, firstly determining the deviation of the main board in the placement position; and correcting the position of the pre-designed assembly point of each FPC on the mainboard according to the deviation of the placement position of the mainboard, and determining the position information of the corrected assembly point of each FPC. And then, the upper computer returns the position information of the corrected assembly point corresponding to the FPC to the lower computer after receiving an assembly request of the lower computer to a certain FPC, so that the lower computer is controlled to guide the manipulator to complete the assembly of the FPC according to the position information of the corrected assembly point of the FPC.
Obviously, this application third preferred embodiment has eliminated the deviation of mainboard mounted position through returning the assembly point position information after rectifying FPC to the next machine, can further improve the manipulator and snatch FPC's position accuracy, reduces and snatchs the number of times.
In a fourth preferred embodiment, the FPC automated assembly control method of the present application further includes:
determining all hyper-parameters for completing the automatic assembly of each FPC;
all the hyper-parameters are designed in the same parameter table, and the parameter table is displayed in a parameter configuration interface, wherein each hyper-parameter in the parameter table can be directly configured in the parameter configuration interface, and when some hyper-parameters with spatial significance are configured, a point cloud image is adopted to visually display a parameter configuration result in the parameter configuration interface.
In order to complete the FPC Flexible Printed Circuit (FPC) automatic assembly task, besides some key parameters are obtained through algorithm calculation, some hyper-parameters which need to be configured in advance are also needed, and the configuration of the partial hyper-parameters directly influences the accuracy and the usability of the automatic assembly process.
In the fourth preferred embodiment of the present application, a parameter table is designed, and the parameter table includes all hyper-parameters that need to be configured in advance for completing the automatic assembly of each FPC. Table 1 is a parameter table designed in the fourth preferred embodiment of the present application:
TABLE 1 parameter table
As can be seen from table 1 above, even the super-parameter is very complex. In order to facilitate debugging and enable software to have good portability and usability, a set of parameter setting functions is designed in the fourth preferred embodiment of the present application, and the parameter table can be displayed in a parameter configuration interface. Fig. 6 is a schematic diagram of a parameter configuration interface according to a fourth preferred embodiment of the present application. The multiple FPCs share the same parameter configuration interface, and each FPC corresponds to one column in the parameter configuration interface.
Each hyper-parameter in the parameter table can be directly configured in the parameter configuration interface. Fig. 7 is a schematic diagram of directly configuring parameters according to a fourth preferred embodiment of the present application. And the corresponding parameter items in the parameter table can be directly configured or finely adjusted by double clicking in the parameter configuration interface.
Some parameter values in the parameter table are intuitively difficult to understand, such as the sixth item in table 1: and (4) capturing a range box in the image, wherein the parameter represents the specific range of the FPC in the point cloud. In the fourth preferred embodiment of the application, a visual setting mode is designed, and when a part of super-parameters with spatial significance are configured, a point cloud image is adopted in a parameter configuration interface to visually display a parameter configuration result. Fig. 8 is a schematic diagram of a visualization parameter configuration according to a fourth preferred embodiment of the present application. As shown in fig. 8, the actual meaning of the parameter is directly expressed in the point cloud image, so that the parameter with the spatial meaning can be visually displayed, the use difficulty of software is reduced by visualizing the parameter configuration process, and the user experience is improved.
It should be noted that the configuration parameters of some of the meta-parameters in the parameter table of table 1 can be determined or adjusted by the teaching process of the teach pendant. FIG. 9 is a schematic diagram of a teaching scenario presented in an embodiment of the present application. The teaching process is to manually control the manipulator through the teaching device, move the manipulator to a proper position and record the position information of the manipulator and the spatial information related to the FPC.
The specific teaching process is as follows:
901 moving the 2D camera to right above the FPC by a demonstrator;
902, controlling a 2D camera to shoot the position of the FPC slot, recording the current position as a shooting position, and determining parameters of '5 grabbing-camera shooting posture' in the table 1 according to the shooting position;
903 enabling the FPC flat cable to face upwards at the current position, and controlling a 2D camera to take a picture to obtain a point cloud image; FIG. 10 is a schematic view of the front and back sides of an FPC according to an embodiment of the present application;
904, selecting the end position of the FPC in the point cloud middle frame through a parameter configuration function provided by the fourth preferred embodiment of the application, determining a parameter of '6 capture-range frame in image' in table 1 according to the current position of the box, and simultaneously recording specific information of the FPC end reinforcement plate as a parameter of '2 end reinforcement plate size' in table 1;
905, turning over the FPC, enabling the reverse side to face upwards, controlling a 2D camera to take a picture, and calculating the offset from the central position of the connector joint to the tail end of the FPC to serve as a parameter of' 7 grabbing-suction nozzle center offset in the table 1;
906 manually buckling the FPC to the main board, moving the 2D camera to a position right above the FPC through a demonstrator, and taking a picture to obtain a point cloud picture;
907, selecting the terminal position of the FPC in the point cloud middle box through a parameter configuration function provided by the fourth preferred embodiment of the present application, determining the parameter "10 detection-terminal in image range" in table 1 according to the current position of the box, and determining the parameter "9 detection-camera photographing posture" in table 1 according to the current position of the 2D camera;
908 moves the 2D camera to the next FPC location by the teach pendant repeating steps 901 through 907 above.
In addition, the application software is designed according to the automatic assembly control method for the FPC provided by the above embodiments of the application, and the application software runs in the upper computer.
In the process of controlling FPC automatic assembly, the software may have the condition that the spatial point cloud data cannot meet the condition when grabbing or detecting. One situation may be caused by unreasonable configuration, for example, if the parameter configuration of "6 capture in table 1 — range box in image" is unreasonable, the point cloud image displayed on the display screen is partially lost; if the parameter configuration of '10 detection-end in image range' in table 1 is not reasonable, the end of the FPC is not in the display enclosure; another situation may also be caused by the point cloud image acquired by the 3D camera not meeting the algorithm minimum requirements. The software of the application takes the problem into consideration and provides striking prompts for various conditions during the running process of the software.
It should be further noted that the application software provides two different permissions corresponding to the administrator and the operator, where the permissions of the administrator include: parameter configuration, manual testing and automatic testing, and the authority of an operator is limited to the automatic testing. FIG. 11 is a diagram of the authority of an administrator and an operator, respectively, as provided by the software of the present application.
Corresponding to manual test and automatic test, the software of the application designs two different UI interfaces for front-end display, and simultaneously controls which working mode is used currently in back-end logic. The manual test mode requires an administrator to actively send a command to perform a work operation process, and the automatic test mode is fully handed over to the working thread to control the work operation process.
FIG. 12 is a schematic view of a manual test interface presented by the software of the present application. Referring to fig. 12, shown in the manual test interface are: the point cloud image before or after assembly, the positions and numbers of the FPCs on the main board, the parameter configuration results of the FPCs with different numbers and the like. FIG. 13 is a schematic diagram of an automated test interface presented by the software of the present application. Referring to fig. 13, shown in the automated test interface are: the point cloud images before or after assembly, the time axis curve of the force control data, the automatic test results output in real time and the like.
FIG. 14 is a flow chart of the operation of the software of the present application. Referring to fig. 14, the upper computer may automatically connect the lower computer (taking PLC as an example) and the 3D camera when starting, and give a corresponding prompt when the connection fails. In the administrator mode, after the PLC and the 3D camera are successfully connected, the system can enter an administrator main interface to carry out parameter configuration and can be matched with a teaching process to carry out parameter adjustment. Usually, when the application software is operated for the first time or the software is partially changed, an administrator account needs to enter a main interface to set parameters, and manual testing is performed to ensure the reliability of the parameters. Under the operator mode, after successfully connecting PLC and camera, the operator lays the mainboard in putting the thing platform after, and this application software can automatic operation to give the assembly process state diagram in real time.
The present application further provides an FPC automated assembly control device, fig. 15 is a schematic structural diagram of the FPC automated assembly control device provided in the present application, and as shown in fig. 15, the device in the present application includes:
the communication connection unit 151 is used for establishing communication connection with the lower computer and the 3D camera respectively;
a pre-assembly point cloud image acquisition and display unit 152, configured to respond to an assembly request of a lower computer to a certain FPC, control a 3D camera to acquire a point cloud image before the FPC is assembled, and display the point cloud image before the FPC is assembled on a display screen;
a grasping position calculating unit 153, configured to calculate a grasping position of the FPC according to the point cloud image before the FPC is assembled;
and the position data returning unit 154 is used for returning the grabbing position of the FPC and the position information of the assembly point of the FPC to a lower computer so as to control the lower computer to guide the manipulator to complete grabbing and assembly of the FPC according to the grabbing position of the FPC and the position information of the assembly point of the FPC.
In a preferred embodiment, the apparatus of the embodiment of the present application further includes:
and the force control data acquisition and display unit is used for acquiring force control data of a pressure sensor arranged on the manipulator and synchronously displaying a time axis curve of the force control data on a display screen in the process of controlling the lower computer to guide the manipulator to complete the grabbing and assembling of the FPC.
In a preferred embodiment, the apparatus of the embodiment of the present application further includes:
the assembled point cloud image acquisition and display unit is used for responding to a detection request of a lower computer to a certain FPC, controlling a 3D camera to acquire a point cloud image assembled by the FPC and displaying the point cloud image assembled by the FPC on a display screen;
the assembly pose judgment unit is used for calculating the current pose of the FPC according to the point cloud image after the FPC is assembled, comparing the current pose of the FPC with a preset normal pose range of the FPC and judging whether the current pose of the FPC is normal or not;
the assembly in-place judging unit is used for further combining force control data of the manipulator in the process of grabbing and assembling the FPC to judge whether the FPC is assembled in place or not under the condition that the current pose of the FPC is judged to be normal;
and the assembly result returning unit is used for judging that the FPC is assembled in place when force mutation exists in the force control data, and returning result data with correct assembly to the lower computer, otherwise, returning result data with wrong assembly to the lower computer.
In a preferred embodiment, the apparatus of the embodiment of the present application further includes:
the assembly point position correcting unit is used for controlling the 2D camera to collect a 2D image of the main board after the main board is placed on the object placing table; calculating the current position of a pre-calibrated mark point on the mainboard according to the 2D image of the mainboard; determining the deviation of the placement position of the mainboard according to the position of a mark point calibrated in advance on the mainboard and the calculated current position; correcting the position of a pre-designed assembly point of each FPC on the mainboard according to the deviation of the placement position of the mainboard, and determining the position information of the corrected assembly point of each FPC;
the position data returning unit 154 returns the position information of the assembly point of the FPC to the lower computer, specifically: and returning the assembly point position information after the deviation correction of the FPC to a lower computer.
In a preferred embodiment, the apparatus of the embodiment of the present application further includes:
the super-parameter configuration unit is used for determining all super-parameters for completing the automatic assembly of each FPC; all the hyper-parameters are designed in the same parameter table, and the parameter table is displayed in a parameter configuration interface, wherein each hyper-parameter in the parameter table can be directly configured in the parameter configuration interface, and when part of the hyper-parameters with spatial significance are configured, a point cloud image is adopted to visually display parameter configuration results in the parameter configuration interface.
It can be understood that the above FPC automated assembly control device can implement each step of the FPC automated assembly control method provided in the foregoing embodiments, and the relevant explanations regarding the FPC automated assembly control method are applicable to the FPC automated assembly control device, and are not described herein again.
The embodiment of the present application further provides an FPC automated assembly control system, fig. 16 is a schematic structural diagram of the FPC automated assembly control system provided in the embodiment of the present application, and as shown in fig. 16, the system of the embodiment of the present application includes: the manipulator comprises an upper computer 160, a lower computer 161, a 3D camera 162, a 2D camera 163 and a manipulator 169, wherein the upper computer 160 is in communication connection with the lower computer 161, the 3D camera 162 and the 2D camera 163 respectively, and the lower computer 161 is in communication connection with the manipulator 169;
the upper computer 160 is used for operating the FPC automatic assembly control method;
the lower computer 161 is used for sending an assembly request of a certain FPC to the upper computer 160, and guiding the manipulator 169 to complete the grabbing and assembling of the FPC according to the grabbing position of the FPC and the assembly point position information of the FPC returned by the upper computer 160; and sending a detection request of a certain FPC to the upper computer 160, and receiving result data of correct or wrong assembly returned by the upper computer 160.
It can be understood that the above FPC automated assembly control system can implement each step of the FPC automated assembly control method provided in the foregoing embodiments, and the relevant explanations about the FPC automated assembly control method are applicable to the FPC automated assembly control system, and are not described herein again.
The FPC automatic assembly control method belongs to the same technical concept as the FPC automatic assembly control method, and the embodiment of the application also provides electronic equipment. Fig. 17 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 17, at a hardware level, the electronic device includes a memory and a processor, and optionally further includes a display panel, an interface module, a communication module, and the like. Of course, the electronic device may also include hardware required for other services.
The processor, the display panel, the interface module, the communication module, and the memory may be connected to each other through an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 17, but that does not indicate only one bus or one type of bus.
A memory for storing computer executable instructions. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may also include a non-volatile Memory, such as at least one disk Memory. The memory provides computer executable instructions to the processor through the internal bus.
And the processor is used for executing the computer executable instructions stored in the memory and is specifically used for realizing the FPC automatic assembly control method. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.
An embodiment of the present application further provides a computer-readable storage medium, which stores one or more computer programs that, when executed by an electronic device including a plurality of application programs, implement the foregoing FPC automated assembly control method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied in the media.
Computer-readable storage media include permanent and non-permanent, removable and non-removable media and may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable storage medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.
The foregoing is merely a specific embodiment of the present application and other modifications and variations to the above-described embodiments may be made by those skilled in the art in light of the above teachings. It should be understood by those skilled in the art that the foregoing detailed description is for the purpose of better explaining the present application, and the scope of protection of the present application shall be subject to the scope of protection of the claims.
Claims (12)
1. An FPC automatic assembly control method is characterized by comprising the following steps:
establishing communication connection with a lower computer and a 3D camera respectively;
responding to an assembly request of a lower computer to a certain FPC, controlling a 3D camera to collect a point cloud image before the FPC is assembled, and displaying the point cloud image before the FPC is assembled on a display screen;
and calculating the grabbing position of the FPC according to the point cloud image before the FPC is assembled, and returning the grabbing position of the FPC and the information of the assembling point of the FPC to a lower computer so as to control the lower computer to guide a mechanical arm to complete grabbing and assembling of the FPC according to the grabbing position of the FPC and the information of the assembling point of the FPC.
2. The method of claim 1, further comprising:
acquiring force control data of a pressure sensor arranged on a manipulator in the process of controlling a lower computer to guide the manipulator to complete the grabbing and assembling of the FPC;
and synchronously displaying the time axis curve of the force control data on a display screen.
3. The method of claim 2, further comprising:
responding to a detection request of a lower computer to a certain FPC, controlling a 3D camera to collect a point cloud image assembled by the FPC, and displaying the point cloud image assembled by the FPC on a display screen;
calculating the current pose of the FPC according to the point cloud image after the FPC is assembled, comparing the current pose of the FPC with a preset normal pose range of the FPC, and judging whether the current pose of the FPC is normal or not;
under the condition that the current pose of the FPC is judged to be normal, force control data of the manipulator in the process of grabbing and assembling the FPC are further combined, and whether the FPC is assembled in place is judged;
and when the force control data has force mutation, judging that the FPC is assembled in place, and returning result data with correct assembly to the lower computer, otherwise, returning result data with wrong assembly to the lower computer.
4. The method of claim 1, further comprising:
establishing a communication connection with the 2D camera;
after the main board is placed on the object placing table, controlling a 2D camera to collect a 2D image of the main board;
calculating the current position of a mark point on the mainboard which is calibrated in advance according to the 2D image of the mainboard;
determining the deviation of the placement position of the mainboard according to the position of a mark point calibrated in advance on the mainboard and the calculated current position; and the number of the first and second groups,
correcting the position of a pre-designed assembly point of each FPC on the mainboard according to the deviation of the placement position of the mainboard, and determining the position information of the corrected assembly point of each FPC;
the assembly point position information together with the FPC is returned to a lower computer, and the method specifically comprises the following steps: and returning the assembly point position information after the deviation correction of the FPC to a lower computer.
5. The method according to any one of claims 1-4, further comprising:
determining all hyper-parameters for completing the automatic assembly of each FPC;
all the hyper-parameters are designed in the same parameter table, and the parameter table is displayed in a parameter configuration interface, wherein each hyper-parameter in the parameter table can be directly configured in the parameter configuration interface, and when part of the hyper-parameters with spatial significance are configured, a point cloud image is adopted to visually display parameter configuration results in the parameter configuration interface.
6. The utility model provides an automatic equipment controlling means of FPC which characterized in that includes:
the communication connection unit is used for respectively establishing communication connection with the lower computer and the 3D camera;
the pre-assembly point cloud image acquisition and display unit is used for responding to an assembly request of a lower computer to a certain FPC, controlling a 3D camera to acquire a point cloud image before the FPC is assembled and displaying the point cloud image before the FPC is assembled on a display screen;
the grabbing position calculating unit is used for calculating the grabbing position of the FPC according to the point cloud image before the FPC is assembled;
and the position data returning unit is used for returning the grabbing position of the FPC and the position information of the assembly point of the FPC to a lower computer so as to control the lower computer to guide the manipulator to complete grabbing and assembly of the FPC according to the grabbing position of the FPC and the position information of the assembly point of the FPC.
7. The apparatus of claim 6, further comprising:
and the force control data acquisition and display unit is used for acquiring force control data of a pressure sensor arranged on the manipulator and synchronously displaying a time axis curve of the force control data on a display screen in the process of controlling the lower computer to guide the manipulator to complete the grabbing and assembling of the FPC.
8. The apparatus of claim 7, further comprising:
the assembled point cloud image acquisition and display unit is used for responding to a detection request of a lower computer to a certain FPC, controlling a 3D camera to acquire a point cloud image assembled by the FPC and displaying the point cloud image assembled by the FPC on a display screen;
the assembly pose judgment unit is used for calculating the current pose of the FPC according to the point cloud image after the FPC is assembled, comparing the current pose of the FPC with a preset normal pose range of the FPC and judging whether the current pose of the FPC is normal or not;
the assembly in-place judging unit is used for further combining force control data of the manipulator in the process of grabbing and assembling the FPC to judge whether the FPC is assembled in place or not under the condition that the current pose of the FPC is judged to be normal;
and the assembly result returning unit is used for judging that the FPC is assembled in place when force mutation exists in the force control data, and returning result data with correct assembly to the lower computer, otherwise, returning result data with wrong assembly to the lower computer.
9. The apparatus of claim 6, further comprising:
the assembly point position correcting unit is used for controlling the 2D camera to collect a 2D image of the main board after the main board is placed on the object placing table; calculating the current position of a pre-calibrated mark point on the mainboard according to the 2D image of the mainboard; determining the deviation of the placement position of the mainboard according to the position of a mark point calibrated in advance on the mainboard and the calculated current position; correcting the position of a pre-designed assembly point of each FPC on the main board according to the deviation of the placement position of the main board, and determining the position information of the corrected assembly point of each FPC;
the position data returning unit returns the position information of the assembly point of the FPC to a lower computer, and specifically comprises the following steps: and returning the assembly point position information after the deviation correction of the FPC to a lower computer.
10. The apparatus according to any one of claims 6-9, further comprising:
the super-parameter configuration unit is used for determining all super-parameters for completing the automatic assembly of each FPC; all the hyper-parameters are designed in the same parameter table, and the parameter table is displayed in a parameter configuration interface, wherein each hyper-parameter in the parameter table can be directly configured in the parameter configuration interface, and when part of the hyper-parameters with spatial significance are configured, a point cloud image is adopted to visually display parameter configuration results in the parameter configuration interface.
11. The FPC automatic assembly control system is characterized by comprising an upper computer, a lower computer, a 3D camera, a 2D camera and a manipulator, wherein the upper computer is in communication connection with the lower computer, the 3D camera and the 2D camera respectively, and the lower computer is in communication connection with the manipulator;
the upper computer is used for operating the FPC automatic assembly control method of any one of claims 1-7;
the lower computer is used for sending an assembly request of a certain FPC to the upper computer and guiding the manipulator to complete the grabbing and assembly of the FPC according to the grabbing position of the FPC and the assembly point position information of the FPC returned by the upper computer; and sending a detection request of a certain FPC to the upper computer, and receiving result data which is returned by the upper computer and is assembled correctly or wrongly.
12. An electronic device, comprising: a processor and a memory storing computer instructions;
the processor, when executing the computer instructions, executes the FPC automated assembly control method of any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310036014.8A CN115922732A (en) | 2023-01-05 | 2023-01-05 | FPC automatic assembly control method, device and system and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310036014.8A CN115922732A (en) | 2023-01-05 | 2023-01-05 | FPC automatic assembly control method, device and system and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115922732A true CN115922732A (en) | 2023-04-07 |
Family
ID=86552610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310036014.8A Pending CN115922732A (en) | 2023-01-05 | 2023-01-05 | FPC automatic assembly control method, device and system and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115922732A (en) |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103293431A (en) * | 2013-05-09 | 2013-09-11 | 中国矿业大学 | Flat cable assembly detection device |
| CN109366146A (en) * | 2018-12-04 | 2019-02-22 | 佳奕筱安(上海)机器人科技有限公司 | Compressor operation station and its application method with domain controller |
| CN208581398U (en) * | 2018-07-10 | 2019-03-05 | 广州市斯睿特智能科技有限公司 | Flexible circuit board precision assembly device |
| CN109459984A (en) * | 2018-11-02 | 2019-03-12 | 宁夏巨能机器人股份有限公司 | A kind of positioning grasping system and its application method based on three-dimensional point cloud |
| CN109940604A (en) * | 2019-01-29 | 2019-06-28 | 中国工程物理研究院激光聚变研究中心 | Workpiece 3 D positioning system and method based on point cloud data |
| CN110231810A (en) * | 2019-06-19 | 2019-09-13 | 盐城工学院 | A kind of automatic production line management information system and method, production line control system |
| CN110621150A (en) * | 2019-09-20 | 2019-12-27 | 上海节卡机器人科技有限公司 | Printed circuit board assembling method and related device |
| CN111103853A (en) * | 2019-12-05 | 2020-05-05 | 南京熊猫电子股份有限公司 | Robot control cabinet assembly auxiliary system and method |
| CN111783188A (en) * | 2020-05-22 | 2020-10-16 | 杭州嗡嗡科技有限公司 | BIM-based assembly type free design tool and deepened design method thereof |
| CN112024426A (en) * | 2020-09-01 | 2020-12-04 | 北京智通云联科技有限公司 | Multi-station visual identification system |
| CN112264998A (en) * | 2020-10-28 | 2021-01-26 | 上海非夕机器人科技有限公司 | Method for assembling operation member and adapting member by robot, robot and controller |
| CN113858215A (en) * | 2021-11-24 | 2021-12-31 | 江苏汇博机器人技术股份有限公司 | Automatic assembly simulation system of six-axis robot |
| CN114326920A (en) * | 2021-12-01 | 2022-04-12 | 天津福赛汽车部件有限公司 | Automatic screw buckle assembling and operating system |
| CN114347013A (en) * | 2021-11-05 | 2022-04-15 | 深港产学研基地（北京大学香港科技大学深圳研修院） | Method for assembling printed circuit board and FPC flexible cable and related equipment |
| CN216505125U (en) * | 2021-11-05 | 2022-05-13 | 深港产学研基地（北京大学香港科技大学深圳研修院） | Visual guidance high-precision positioning system |
| CN114494420A (en) * | 2022-01-27 | 2022-05-13 | 广州市斯睿特智能科技有限公司 | Flexible circuit board assembling device and method |
| CN114820766A (en) * | 2022-03-22 | 2022-07-29 | 歌尔科技有限公司 | Pose determination method and device of grabbed object and electronic equipment |
| CN114900688A (en) * | 2022-06-13 | 2022-08-12 | 歌尔股份有限公司 | Detection method of camera component, detection device and computer readable storage medium |
-
2023
- 2023-01-05 CN CN202310036014.8A patent/CN115922732A/en active Pending
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103293431A (en) * | 2013-05-09 | 2013-09-11 | 中国矿业大学 | Flat cable assembly detection device |
| CN208581398U (en) * | 2018-07-10 | 2019-03-05 | 广州市斯睿特智能科技有限公司 | Flexible circuit board precision assembly device |
| CN109459984A (en) * | 2018-11-02 | 2019-03-12 | 宁夏巨能机器人股份有限公司 | A kind of positioning grasping system and its application method based on three-dimensional point cloud |
| CN109366146A (en) * | 2018-12-04 | 2019-02-22 | 佳奕筱安(上海)机器人科技有限公司 | Compressor operation station and its application method with domain controller |
| CN109940604A (en) * | 2019-01-29 | 2019-06-28 | 中国工程物理研究院激光聚变研究中心 | Workpiece 3 D positioning system and method based on point cloud data |
| CN110231810A (en) * | 2019-06-19 | 2019-09-13 | 盐城工学院 | A kind of automatic production line management information system and method, production line control system |
| CN110621150A (en) * | 2019-09-20 | 2019-12-27 | 上海节卡机器人科技有限公司 | Printed circuit board assembling method and related device |
| CN111103853A (en) * | 2019-12-05 | 2020-05-05 | 南京熊猫电子股份有限公司 | Robot control cabinet assembly auxiliary system and method |
| CN111783188A (en) * | 2020-05-22 | 2020-10-16 | 杭州嗡嗡科技有限公司 | BIM-based assembly type free design tool and deepened design method thereof |
| CN112024426A (en) * | 2020-09-01 | 2020-12-04 | 北京智通云联科技有限公司 | Multi-station visual identification system |
| CN112264998A (en) * | 2020-10-28 | 2021-01-26 | 上海非夕机器人科技有限公司 | Method for assembling operation member and adapting member by robot, robot and controller |
| CN114347013A (en) * | 2021-11-05 | 2022-04-15 | 深港产学研基地（北京大学香港科技大学深圳研修院） | Method for assembling printed circuit board and FPC flexible cable and related equipment |
| CN216505125U (en) * | 2021-11-05 | 2022-05-13 | 深港产学研基地（北京大学香港科技大学深圳研修院） | Visual guidance high-precision positioning system |
| CN113858215A (en) * | 2021-11-24 | 2021-12-31 | 江苏汇博机器人技术股份有限公司 | Automatic assembly simulation system of six-axis robot |
| CN114326920A (en) * | 2021-12-01 | 2022-04-12 | 天津福赛汽车部件有限公司 | Automatic screw buckle assembling and operating system |
| CN114494420A (en) * | 2022-01-27 | 2022-05-13 | 广州市斯睿特智能科技有限公司 | Flexible circuit board assembling device and method |
| CN114820766A (en) * | 2022-03-22 | 2022-07-29 | 歌尔科技有限公司 | Pose determination method and device of grabbed object and electronic equipment |
| CN114900688A (en) * | 2022-06-13 | 2022-08-12 | 歌尔股份有限公司 | Detection method of camera component, detection device and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8295588B2 (en) | Three-dimensional vision sensor | |
| CN109426835B (en) | Information processing apparatus, control method of information processing apparatus, and storage medium | |
| JP2008235504A (en) | Assembly inspection device | |
| CN112651949A (en) | 3D printing monitoring method and device, electronic equipment and storage medium | |
| CN113664838B (en) | Robot positioning placement control method and device, electronic equipment and storage medium | |
| CN113840695B (en) | Calibration inspection assembly, robot system, inspection method and calibration method | |
| CN110853102B (en) | Novel robot vision calibration and guide method and device and computer equipment | |
| JP2009289046A (en) | Operation support device and method using three-dimensional data | |
| CN112950528A (en) | Certificate posture determining method, model training method, device, server and medium | |
| US20130033576A1 (en) | Image processing device and method, and program | |
| US11989928B2 (en) | Image processing system | |
| CN115922732A (en) | FPC automatic assembly control method, device and system and electronic equipment | |
| US20090296082A1 (en) | Circuit board detecting device and method thereof | |
| CN116993654B (en) | Camera module defect detection method, device, equipment, storage medium and product | |
| CN106846302B (en) | Detection method for correctly taking tool and examination table based on method | |
| CN114546740A (en) | Touch screen testing method, device and system and storage medium | |
| US11010634B2 (en) | Measurement apparatus, measurement method, and computer-readable recording medium storing measurement program | |
| CN109214242A (en) | Sensing data acquisition methods, device, system and computer readable storage medium | |
| JPH0415883A (en) | Picture processor | |
| CN111479407A (en) | Visual selective wave soldering method and system for PCB | |
| TWI813096B (en) | An indicating method and system for processing positions of a workpiece | |
| CN115294217B (en) | Visual experiment platform calibration method, positioning method and related equipment | |
| CN115658544B (en) | Test method based on simulated click | |
| JP7283150B2 (en) | Control device, inspection system, control method, program | |
| CN117532584A (en) | Mechanical arm teaching method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |