CN108010011A

CN108010011A - A kind of device for helping to confirm the target area on target object and the equipment including the device

Info

Publication number: CN108010011A
Application number: CN201710995750.0A
Authority: CN
Inventors: 马麟
Original assignee: Luban's Robot (shenzhen) Co Ltd
Current assignee: Luban's Robot (shenzhen) Co Ltd
Priority date: 2017-10-23
Filing date: 2017-10-23
Publication date: 2018-05-08
Anticipated expiration: 2037-10-23
Also published as: CN108010011B; WO2019080812A1

Abstract

The present invention provides a kind of device for helping to confirm the target area on target object and the equipment including the device, and the help confirms that the device of the target area on target object includes instruction transmitter unit, sensor, objective table and processor；The instruction transmitter unit, for launching indication signal and/or instruction；The sensor, for obtaining the shooting image or position feed back signal of the target object；The objective table, for placing the target object；The setting that the indication signal and/or instruction of the objective table and the instruction transmitter unit transmitting can be movable relatively；The processor couples the sensor, and couples the instruction transmitter unit and/or the objective table.Technical solution using the present invention, can help to confirm the target area on target object, the target area on target object is operated with facilitating.

Description

It is a kind of to help to confirm the device of the target area on target object and including the device Equipment

Technical field

The present invention relates to technical field of industrial equipment, and in particular to a kind of help confirms the target area on target object Device and the equipment including the device.

Background technology

Carry out target object be detected when, when operating personnel need on target object (such as：Pcb board, technique Product) a certain target area carry out plugging in machine, inspection, when safeguarding or improving, due to each target area that may be on target object Structure or position are more close, cause operating personnel to generally require to spend many energy to go to confirm the target area on target object Domain；Or due to other reasons such as blocking or operating, operating personnel generally require the position of constantly conversion target object, one Denier target object is shifted one's position, then may cause the position for the target area that operating personnel need to redefine on target object, Especially to the more similar target area of structure on those target objects, due to entirety relatively, target is once converted The position of object, then that definite originally target area just needs operating personnel to require efforts again searching, or even causes to miss Sentence, so as to reduce work efficiency or accuracy rate.

The content of the invention

Help to confirm the device of the target area on target object and including the device in consideration of it, present invention offer is a kind of Equipment, can help to confirm the target area on target object, the target area on target object is operated with facilitating.

First aspect present invention provides a kind of device for helping to confirm target area on target object, and the help confirms mesh Marking the device of the target area on object includes instruction transmitter unit, sensor, objective table and processor；

The instruction transmitter unit, for launching indication signal and/or instruction；

The sensor, for obtaining the shooting image or position feed back signal of the target object；

The objective table, for placing the target object；

What the indication signal and/or instruction of the objective table and the instruction transmitter unit transmitting can be movable relatively sets Put；

The processor couples the sensor, and couples the instruction transmitter unit and/or the objective table；The place Reason device obtains the current taken image obtained during the working sensor or current location feedback signal at work；Described in parsing Current taken image or the current location feedback signal, obtain the target object current location；Obtain the target area Relative position on the target object, obtains the sensor and the instruction transmitter unit and/or the objective table Coordinate conversion relation；According to the target object current location, the relative position and the coordinate conversion relation, described in acquisition Target area and the target area current location under the instruction transmitter unit and/or the objective table unified coordinate system；Control The objective table and/or the indication signal and/or instruction relative motion, so that the indication signal and/or the corresponding institute of instruction State target area current location.

Preferably, the instruction transmitter unit includes being used to launch the illuminating part of optical signal, for launching picture signal Projecting apparatus and/or the instruction transmitting part in kind for launching instruction in kind.

Preferably, the indication signal and/or instruction of the objective table and the instruction transmitter unit transmitting can The setting of relative motion includes

The objective table fixed setting, the indication signal of the instruction transmitter unit transmitting and/or instruction are movable Set；Or

The indication signal and/or instruction fixed setting, the objective table of the instruction transmitter unit transmitting are movable Set；Or

The indication signal and/or the movable setting of instruction, the objective table of the instruction transmitter unit transmitting can live It is dynamic to set, and the indication signal of the instruction transmitter unit transmitting and/or instruction and the objective table relative motion.

Preferably, the indication signal of the instruction transmitter unit transmitting and/or the movable setting of instruction include Can mechanical activity set instruction transmitter unit, can multi-angle transmitting indication signal or instruction instruction transmitter unit or multiple solid Determine any one in being composed of instruction transmitter unit of angle transmitting indication signal or instruction or combine.

Preferably, the sensor includes imaging sensor or position sensor.

Preferably, when including multiple relative positions, each relative position corresponds to one first match information；Institute It is imaging sensor to state sensor, and described image sensor obtains the matching image for including match information；It is described to obtain the mesh Marking relative position of the region on the target object includes parsing the matching image, obtains the second match information, obtain with The corresponding relative position of matched first match information of second match information；And/or

When each target object includes multiple relative positions, the help confirms the target area on target object Device further include switch unit；The processor lotus root connects the switch unit；The processor further includes judgement at work Whether the switching command of the switch unit input is obtained；If so, obtain the next opposite of next target area on target object Position.

Preferably, the transmitter unit is correspondingly arranged different types of instruction according to the variety classes of target area and believes respectively Number and/or instruction；The processor further includes the kind of information for obtaining target area at work, is obtained according to the kind of information Take the transmitter unit transmitting indication signal and/or the species of instruction.

Second invention of the invention provides a kind of computer equipment, including processor, memory and the computer program of storage, The processor obtains the current taken image obtained during the working sensor or current location feedback signal at work；Solution The current taken image or the current location feedback signal are analysed, obtains the target object current location；Obtain the mesh Relative position of the region on the target object is marked, obtains the sensor and the instruction transmitter unit and/or the load The coordinate conversion relation of thing platform；According to the target object current location, the relative position and the coordinate conversion relation, obtain Take the target area and the target area present bit under the instruction transmitter unit and/or the objective table unified coordinate system Put；The objective table and/or the indication signal and/or instruction relative motion are controlled, so that the indication signal and/or instruction The corresponding target area current location.

Third aspect present invention provides a kind of computer-readable recording medium, and the computer-readable recording medium storage has Computer program, the computer program realize following steps when being executed by processor：

Obtain the current taken image obtained during the working sensor or current location feedback signal；Parse described current Shooting image or the current location feedback signal, obtain the target object current location；The target area is obtained in institute The relative position on target object is stated, obtains the sensor and the instruction transmitter unit and/or the coordinate of the objective table Transformation relation；According to the target object current location, the relative position and the coordinate conversion relation, the target is obtained Region and the target area current location under the instruction transmitter unit and/or the objective table unified coordinate system；Described in control Objective table and/or the indication signal and/or instruction relative motion, so that the indication signal and/or the corresponding mesh of instruction Mark region current location.

Fourth aspect present invention provides a kind of method for helping to confirm target location on target object, and the help confirms mesh The method of target location includes on mark object：

Obtain the current taken image obtained during the working sensor or current location feedback signal；

The current taken image or the current location feedback signal are parsed, obtains the target object current location；

Relative position of the target area on the target object is obtained, the sensor is obtained and is sent out with the instruction Penetrate the coordinate conversion relation of unit and/or the objective table；

According to the target object current location, the relative position and the coordinate conversion relation, the target is obtained Region and the target area current location under the instruction transmitter unit and/or the objective table unified coordinate system；

Control the objective table and/or the indication signal and/or instruction relative motion so that the indication signal and/ Or the corresponding target area current location of instruction.

Fifth aspect present invention provides a kind of device for helping to confirm target location on target object, and the objective table, is used In the placement target object；

The instruction transmitter unit and the objective table can be movable relatively so that the instruction transmitter unit is launched described The target area in indication signal and/or the corresponding target object of instruction.

Preferably, the transmitter unit is correspondingly arranged different types of instruction according to the variety classes of target area and believes respectively Number and/or instruction.

Sixth aspect present invention provides a kind of industrial equipment, and the industrial equipment includes the help described in any of the above one Confirm the device of the target area on target object；The industrial equipment includes：Target object detection device, target object processing Equipment, target object maintained equipment or target object assembling equipment；

When the industrial equipment includes target object detection device；

The target object includes：Examined object；

The target area includes：Measuring point to be checked in examined object；

The examined object includes：Craftwork, ornament, mechanical component, glass or PCB；Or

When the industrial equipment includes target object maintained equipment；

The target object includes：Object to be safeguarded；

The target area includes：Maintenance point is treated on object to be safeguarded；

The object to be safeguarded includes：Craftwork, ornament, mechanical component, glass or PCB；Or

When the industrial equipment includes target object process equipment；

The target object includes：Object to be processed；

The target area includes：Point to be processed on object to be processed；

The generation processing object includes：Craftwork, ornament, mechanical component, glass or PCB；Or

When the industrial equipment includes target object assembling equipment；

The target object includes：Object to be assembled；

The target area includes：Point to be assembled on object to be assembled；

The generation assembling object includes：Craftwork, ornament, mechanical component, glass or PCB.

Therefore the help of use of the embodiment of the present invention confirms the device of the target area on target object and including this The equipment of device, achieves following technique effect：

1st, due to it is automatic, this automatically or manually by way of to the target area on target object launch instruction, because This can help to confirm the target area on target object, so as to improve work efficiency and accuracy rate.

2nd,, can be with therefore even if target object moves further, since launching instruction to the current location of target area Complete to launch instruction to the target area on target object by automatic mode.

3rd, since when including multiple relative positions, each relative position and target object are set respectively can be relatively right The match information answered, by matching, can obtain the corresponding relative position information of the target object.

4th, since when including multiple relative positions, help confirms that the device of the target area on target object further includes and cuts Change unit；It can be switched over by switch unit between multiple relative positions.

5th, due to will help to confirm that the device of target area on target object is applied in target object detection device, object In body maintained equipment, target object process equipment or target object assembling equipment, due to confirming mesh on target object using help The device in region is marked, launches instruction to the target area on target object by using automatic, semi-automatic or artificial mode, Therefore can help to confirm the target area on target object, so as to improve work efficiency and accuracy rate.

Brief description of the drawings

Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to institute in embodiment and description of the prior art Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings Obtain other attached drawings.

Fig. 1 is the first structure frame of the device of the target area provided in an embodiment of the present invention for helping to confirm target object Figure；

Fig. 2 is the second structural frames of the device provided in an embodiment of the present invention for helping to confirm the target location on target object Figure；

Fig. 3 A-3B are respectively first, second structure diagram of position sensor arrangement provided in an embodiment of the present invention；

Fig. 4 is the 3rd structural frames of the device provided in an embodiment of the present invention for helping to confirm the target location on target object Figure；

Fig. 5 is the structure diagram of computer equipment provided in an embodiment of the present invention；

Fig. 6 is the first pass figure provided in an embodiment of the present invention for helping to confirm the method for target area on target object；

Fig. 7 is the second flow chart provided in an embodiment of the present invention for helping to confirm the method for target area on target object；

Fig. 8 is the 3rd flow chart provided in an embodiment of the present invention for helping to confirm the method for target area on target object；

Fig. 9 is the 4th flow of the method provided in an embodiment of the present invention for helping to confirm the target area on target object Figure.

Embodiment

In order to make those skilled in the art more fully understand the present invention program, below in conjunction with attached in the embodiment of the present invention Figure, is clearly and completely described the technical solution in the embodiment of the present invention, it is clear that described embodiment is only this The embodiment of a part is invented, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art The all other embodiment obtained without making creative work, should all belong to the scope of protection of the invention.

The specific embodiment offer of the present invention is a kind of to help to confirm the device of the target area on target object and including this The equipment of device, operates the target area on target object with facilitating.The help confirms the target on target object The device in region, can apply in multiple technical fields, such as：Apply the detection field in target object, the dimension of target object Protector for collar domain, the processing etc. of target object.

Embodiment one,

Fig. 1 is the first structure frame of the device of the target area provided in an embodiment of the present invention for helping to confirm target object Figure.

As shown in Figure 1, the embodiment of the present invention one provides a kind of device for helping to confirm the target area on target object 200, it can be realized automatically to the transmitting instruction of target area 110 on target object 100 and/or instruction letter using the device 200 Number, so as to help to confirm the target area on target object.

The device 200 includes instruction transmitter unit 210, sensor 220, objective table 230, processor 240.

Transmitter unit 210 is indicated, for sending indication signal and/or instruction.

Indication signal can include but is not limited to：Optical signal, picture signal, voice signal.Indicate that material object can be included Instruction, such as：Pointer.

Projector picture signal, the picture signal for including cue mark sent according to back-end processor, to target Projected image on object.Image can only include cue mark, can also further include the background in addition to cue mark.Background can be with For random color, cue mark can be arbitrarily different from background color color or arbitrary shape, be incident upon when by image When on target object, the cue mark on image just corresponds to the target area on target object, so as to complete to target object On target area instruction.

Illuminating part and sounding part are respectively used to transmitting optical signal and voice signal；Indicator in kind, refers to for launching material object Show.

In some preferred embodiments, the preferred optical signal of the indication signal, it indicates that transmitter unit is illuminating part, than Such as：Incandescent lamp, laser, infrared ray.

In some preferred embodiments, target area can also include kind of information (by taking pcb board as an example, such as：Different mesh Mark region, which need to correspond to, is inserted into different electronic components；Or different species can represent and the defects of different type is corresponded on pcb board, Such as：Element problem itself, solder skip problem etc.), it indicates that signal transmitter unit can correspond to different kind of information and set The configured information of multiple species and/or instruction.By taking illuminating part as an example, or various types of illuminating part (such as：In vain Vehement lamp, infrared ray, laser), the light of same or different illuminating parts transmitting different colours, same or different illuminating part transmitting it is different Shape (such as：Circular, square, triangle) light；When for projecting apparatus when, different colours and the mark of shape can be launched.It is logical Different types of target area can be further discriminated between by crossing different type, different colours, the light of different light spot shapes.

It should be noted that the instruction of at least one target location, can include following several ways：

The first, once only launches the instruction of a target location to target object.

Second, the instruction of multiple target locations is once launched to target object.

Since a target object may include multiple target locations, can once launch to target object multiple Target location instruction, can also only launch an instruction every time.

Objective table 230, for drop target object.Instruction transmitter unit 210 and sensor 220 are arranged on the objective table On 230 or 230 periphery of objective table.

What the indication signal and/or instruction that the objective table 230 and the instruction transmitter unit 210 are launched can be movable relatively Set.Following situation can specifically be included：

First, objective table 230 is fixedly installed, and the indication signal and/or instruction that instruction transmitter unit 210 is launched are movable.

Indicate that indication signal that transmitter unit 210 launches and/or instruction movable can include：Can mechanical activity set Indicate transmitter unit, can multi-angle transmitting indication signal instruction transmitter unit or multiple fixed transmission indication signal angles finger Show transmitter unit be set up in parallel etc. in any one；Or it is the combination reality of the instruction transmitter unit of above-mentioned three types It is existing.It is above-mentioned using can mechanical activity set instruction transmitter unit or can multi-angle launch indication signal instruction transmitter unit can , can also be as needed using multiple to use one.

Can mechanical activity set instruction transmitter unit 210 can include various movements, such as：Translation, rotate, so i.e. Make when the target area movement on target object, by adjusting instruction transmitter unit, can to indicate what transmitter unit was sent Indicate the target area on face target object.The instruction transmitter unit 210 of movable setting includes：Emission part, drive division (figure Do not illustrate).Drive division drives emission part to carry out various according to the relevant command signal of movement that the control device of reception is sent Movement.Drive division can include various driving devices of the prior art, such as：Motor, hydraulic press, aerostatic press.

Can the instruction transmitter unit of multi-angle transmitting indication signal can include projecting apparatus described in above example, it is logical Crossing generation includes the projected image of different cue marks, so as to adjust the position of indication signal transmitting；Or processor control can be passed through System is not so that illuminating part produces the angle for the i.e. adjustable transmitting optical signal instruction of mechanical movement that above example is mentioned.

2nd, 230 mobilizable setting of objective table, the indication signal and/or instruction that instruction transmitter unit 210 is launched are fixed.

The objective table 230 of the movable setting can include (scheming not for drop target object loading table top, drive division Illustrate).The command signal that the drive division of the objective table 230 is sent according to back-end processor 240, band dynamic object stage 230 are transported It is dynamic, and then moved with the target object 100 in dynamic object stage 230.The movable setting includes mobile, rotation etc..Region Portion can use the various prior arts to realize driving, such as：Motor, hydraulic press, aerostatic press.

3rd, indicate that transmitter unit 210 and objective table 230 can move, so as to realize opposite fortune therebetween jointly It is dynamic.

Relevant movement adjustment mode may refer to described above, and it is no longer repeated herein.

Sensor 220, for obtaining the shooting image or position feed back signal of target object.

Sensor 220 can include imaging sensor or position sensor.

When sensor 220 is imaging sensor 220, imaging sensor can obtain the shooting image of target object, should Shooting image includes target object, can also include the region outside target object.

In certain embodiments, image sensor cell 220 can include：Infrared camera, CCD visible light cameras etc. Deng.

Camera unit is obtained the image for including whole target object by image sensor cell 220, is converted into image information, And by image information, rear end control unit is sent to by the interface of rear end control device.

In some preferred embodiments, imaging sensor 220 further includes imaging sensor control module (not shown to anticipate out), For being controlled to imaging sensor, such as：Control camera at every fixed time shoots target object region.Control Molding block can become one with image sensor cell 220, can also be integrated in the rear end of whole device, be held by processor It is uniformly controlled during row computer program.Imaging sensor can be one or multiple.

Fig. 3 A-3B are respectively first, second structure diagram of position sensor arrangement provided in an embodiment of the present invention.

When sensor 220 is position sensor, the position feed back signal of target object can be obtained.Position sensor 220 can be arranged by the way of as described below：

As shown in Figure 3A, a kind of mode：Previously according to the size of target object 100, subscribing at 4 angular zones in region Set position sensor 220, when target object 100 from dotted line frame region movement (such as：Driven and moved by conveyer belt) to 4 The sensor position at angle, the position for being now placed in the sensor at 4 angles are both the position at four angles of target object；Therefore The feedback signal that processor passes through the sensor at 4 angles of acquisition, you can obtain target object location.

As shown in Figure 3B, another way：In precalculated position, fixed area sets multiple position sensors 220, works as target Object 100 from dotted line frame region move (such as：Driven by conveyer belt) to after subscribing region, each position sensor 220 is felt Answer target object, send feedback signal, due to each sensor 220 prestored positional information (such as：Coordinate information), then According to the positional information positioned at outermost position sensor for sending signal, it is possible to calculate the area information of target object.

The quantity of position sensor can be arranged as required into any.Except two ways listed above, also have Many layout area sensors are to obtain the method for target object area information, as long as target can be obtained by area sensor The region of object is belonged in the scope of protection of the invention, will not enumerate herein.

Fig. 6 is the first pass figure provided in an embodiment of the present invention for helping to confirm the method for target area on target object.

Realized as shown in Fig. 1, Fig. 6, when processor 240 performs computer program and help to confirm target on target object below Each step in the method in region.Exemplary, the computer program 25 can be divided into one or more modules/mono- Member, one or more of module/units are stored in the memory 250, and are performed by the processor 240, with Complete the present invention.One or more of module/units can be that the series of computation machine program that can complete specific function refers to Section is made, which is used to describe implementation procedure of the computer program 25 in described device 200.

Alleged processor 240 can be central processing unit (Central Processing Unit, CPU), can also be Other general processors, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field- Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic, Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor Deng.

The memory 250 can be the storage device of the terminal built-in, such as hard disk or memory.The memory 250 can also be the External memory equipment of the device 200 for helping to confirm target area on target object, such as the help Confirm the plug-in type hard disk being equipped with target object on the device 200 of target area, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc..Further, it is described to deposit Reservoir 250 can also both include the internal storage unit of the device 200 for helping to confirm target area on target object, also wrap Include External memory equipment.The memory 250 is used to store the computer program and other programs needed for the terminal And information.The memory 250 can be also used for temporarily storing the information that has exported or will export.

As shown in fig. 6, the help confirms that the method for target area includes the following steps on target object：

S101, obtains the current taken image obtained during the working sensor or current location feedback signal.

S102, parses the current taken image or the current location feedback signal, obtains working as the target object Front position.

The current taken image is parsed, obtains the current location of target object, can specifically include following several ways：

The first：Target object is arranged on the tagged objective table of a tool, prestores objective table relative image biography Sensor position relationship (can by set on objective table multiple identification points either pattern by obtaining identification point or figure Case calculate objective table relative to described image sensor position relationship), by imaging sensor obtain include target object with The shooting image identified on objective table, parses the shooting image, and according to characteristic point, extraction target object border corresponds to loading The mark of platform, it is opposite further according to the objective table prestored so as to know coordinate system of the target object relative to objective table In the position relationship of described image sensor, so as to obtain position of the target object currently under imaging sensor coordinate system.

Second：The positional information of target object is directly obtained by imaging sensor, rather than is turned by objective table Change mode.

The shooting image that target object is obtained by imaging sensor is obtained, according to the CAD information or mesh of object in itself The characteristics of image of object in itself is marked, is handled by vision algorithm, obtains the position under the imaging sensor coordinate system of target object Information.

The third：When the target object is three-dimensional body, it is necessary to three-dimensional imaging be carried out to target object, it is then determined that three Tie up position relationship of the object relative to imaging sensor.

Binocular vision, multi-vision visual, or depth image sensor can be used, three-dimensional imaging is carried out to object.According to Three-dimensional imaging information, and the depth information or shape information of target object, can calculate the position of target object three-dimensional Information.

When sensor 220 is position sensor, the current location feedback signal is parsed, obtains the current of target object Position, specifically may refer to the description in above example sensor, according to above example, be existed according to position sensor Positional information under position sensor coordinate system, the border that can obtain the corresponding target object detected are sat in position sensor Positional information under mark system, you can to obtain positional information of the target object under sensor coordinate system.

S103, obtains relative position of the target area on the target object；Obtain the sensor with it is described Indicate the coordinate conversion relation of transmitter unit and/or the objective table.

The instruction transmitter unit of relative position and the target area of the target area on the target object is sat The lower position of mark system can be stored in advance in memory 250, can also be sent in real time by external unit.

It should be noted that each target area relative target object on each target object can have one it is opposite Positional information (positional information can pass through coordinate representation), therefore mesh can be found by the positional information of target area Mark the target area on object.When the target object is planar object, the positional information can include the coordinate of two dimension Information (X, Y), when the target object is three-dimensional body, the area information can include three-dimensional coordinate information (X、Y、Z)。

It should be further noted that target area can be a point, this can be represented by the coordinate information of the point The position of point；It can also be a face with certain area.

When for face when, can only taking the central point in face, then target location passes through the center as the coordinate position of entire surface The coordinate information of point represents position substantially；In further embodiments, when needing with entire surface to represent, it is necessary to by the face Be divided into several points, collectively constitute the coordinate information in the face by the coordinate information of each point, during transmitting instruction by the same time to Each point transmitting instruction indicates so as to fulfill to the field emission in a face.

It should be noted that the coordinate conversion relation of sensor and instruction transmitter unit and/or objective table.Wherein, coordinate Convert and refer to the process of transform to another coordinate system from a kind of coordinate system, transformation relation refers to that the transformation calculations process is adopted Relational expression.The transformation relation can include：By sensor transformation to instruction transmitter unit or stage coordinate system down conversion Relation, or will indicate that transmitter unit and/or objective table transform to the transformation relation under sensor coordinate system, can also be by Sensor transforms to the transformation relation under a certain unification three-coordinate with instruction transmitter unit and/or objective table, specific at this In embodiment, transformation relation is preferably by sensor transformation to instruction transmitter unit and/or stage coordinate system down conversion relation.

S104, according to the current location, the relative position and the coordinate conversion relation, obtains the target area With the target area current location under the instruction transmitter unit and/or the objective table unified coordinate system.

, can according to the current position under sensor coordinate system of position of the target area on target object and target object To calculate position of the target area under sensor coordinate system；Coordinate transform further according to sensor and instruction transmitter unit is closed System, by coordinate transform, calculates target area and indicates the target area current location under transmitter unit unified coordinate system.

According to S103 above, by conversion above, by target area and instruction transmitter unit and/or objective table Transform under unified coordinate system, which can be instruction transmitter unit or stage coordinate system or sensing Device coordinate system, can also be three-coordinate.

This specific embodiment, when objective table is motionless, and indicates transmitter unit movement, preferably indicates transmitter unit coordinate System, so according to target area current location, instruction transmitter unit subsequently can be calculated directly, and the instruction launched and/ Or indication signal, it is no longer necessary to the step of in addition coordinate system is changed.

When instruction transmitter unit is motionless, and during stage movement, preferred stage coordinate system；Reason is same as above.

When indicating that transmitter unit and objective table all move, preferably three-coordinate is, it is necessary to by the two the common the 3rd It is controlled after being each converted into each original coordinate system after being calculated under coordinate system again.

S105, controls the indication signal and/or instruction phase of the objective table and/or the instruction transmitter unit transmitting To movement, so that the indication signal of the instruction transmitter unit transmitting and/or the corresponding target area present bit of instruction Put.

According to described above, it can specifically include following several situations：

When instruction transmitter unit is projecting apparatus, and the indication signal of instruction transmitter unit transmitting is image indication signal, root According to current location of the target area in the case where indicating transmitter unit coordinate system is calculated, generation includes the mark of corresponding current location View data, sends view data to projecting apparatus, so that projector projects picture signal.

When instruction transmitter unit for can mechanical activity set transmitter unit (such as：Illuminating part, indicator in kind), obtain Last moment position of the last moment target area under transmitter unit coordinate system, according to the current location and last moment position Put, calculate indication signal or instruction is moved to the first amount of exercise of target area current location by last moment position；According to institute The first amount of exercise is stated, and obtains the relation that transmitter unit moves the instruction sent with it or configured information, it is single to calculate instruction transmitting First second amount of exercise, generation the second amount of exercise instruction, is sent to instruction transmitter unit, so that instruction transmitter unit movement, so that Make indication signal or the instruction face target area current location of post exercise instruction transmitter unit transmitting.

It should be noted that if the unified coordinate system in S104 is sensor coordinate system, stage coordinate system or the 3rd Coordinate system, then the target area current location for also needing to be computed are converted to the position under instruction transmitter unit coordinate system, Then calculating above is carried out.

It should be further noted that the transmitter unit moves the relation of the instruction sent with it or configured information, can To form different relational expressions according to the different motion of transmitting indicating member, when launching indicating member translational motion, the first fortune Momentum is generally equal to the second amount of exercise., it is necessary to according to the amount of exercise in parallel to the target object plane when to rotate Calculate transmitter unit and rotate different angles.

Formed when instruction transmitter unit is set up in parallel including multiple instruction transmitter units, each indicate transmitter unit hair at this time Position under the corresponding instruction transmitter unit coordinate system of instruction penetrated, it is single to obtain the corresponding instruction transmitting of multiple instruction transmitter units Multiple positions under first coordinate system, multiple positions are matched with the current location of target area, control the finger of successful match Show transmitter unit transmitting indication signal or instruction, so that instruction or indication signal correspond to the target area on target object.

It is described to be included according to first amount of exercise, calculating instruction the second amount of exercise of transmitter unit：Work as target object During translational motion, the first amount of exercise

Indicate that instruction or the indication signal of a certain fixed area are directed toward in the transmitting of transmitter unit 210 one at this time, it is solid to calculate this Determine position of the region in the case where indicating transmitter unit coordinate system.

Last moment position of the target area in last moment in the case where indicating transmitter unit coordinate system is obtained, according to target area Current location and last moment position of the domain in the case where indicating transmitter unit coordinate system, calculate and are moved to fixed bit from going out current location (since target object is fixed on objective table, the target area position on target object can be directly right for its for the amount of exercise put The position for the objective table answered, therefore the amount of exercise is the amount of exercise of objective table), generation amount of exercise instruction so that objective table is transported Dynamic instructed according to amount of exercise is moved, so that indicating the indication signal of transmitter unit transmitting or working as instruction face target area Front position.

It should be noted that if the unified coordinate system in S104 is sensor coordinate system, instruction transmitter unit coordinate system Or three-coordinate, then the target area current location for also needing to be computed are converted to the position under stage coordinate system, Then calculating above is carried out.

It should be noted that since target object is placed on objective table, can band by controlling stage movement The target object movement of fixed placement in dynamic object stage, so that the current location of target area occurs on corresponding target object Corresponding movement.

Specifically the method and apparatus of controlled motion may refer to described above, and in this not go into detail.

By described above, by launching indication signal and/or instruction to the target area on target object, so that automatically Help to confirm the target area on target object, so as to improve work efficiency and accuracy rate.

Further, since what is obtained is the current location of target object, so when the current location of target object changes When, instruction can be re-started to the target object after changing position, by using this method it is achieved thereby that full automation Indication signal or instruction are sent to the target area on target object.

Fig. 7 confirms the second flow chart of the method for the target area on target object for the help of the embodiment of the present invention.

As shown in fig. 7, in some preferred embodiments when including multiple relative positions, each relative position Corresponding one first match information；The sensor is imaging sensor, and described image sensor obtains for including match information With image.

In some preferred embodiments, the method for helping to confirm target location on target object further includes S107, obtains institute Stating relative position of the target area on the target object includes parsing the matching image, obtains the second match information, obtains Take the relative position corresponding with matched first match information of second match information；

The match information can include：Bar code；Quick Response Code；And symbol, numeral, image, letter, word etc..

Fig. 4 is that the 3rd structure of the device provided in an embodiment of the present invention for helping to confirm the target area on target object is shown It is intended to.Fig. 8 confirms the 3rd flow chart of the method for the target area on target object for the help of the embodiment of the present invention.

As shown in figure 8, in other preferred embodiments, when each target object includes multiple relative positions, The help confirms that the device of the target area on target object further includes switch unit 260；The processor lotus root connects described cut Unit is changed, helps to confirm that the method for target location on target object further includes S107 and judges whether to obtain the switch unit input Switching command；S109, if so, obtaining next relative position of next target area on target object.

It should be noted that the switch unit can be button or touch controllable function key.

According to above example, in some preferred embodiments, the target area in addition to above-mentioned positional information, It can also include the corresponding kind of information in target area, different types of information can correspond to not of the same race described in above example The configured information of class or instruction.

As shown in figure 9, in other preferred embodiments, help confirms that the method for target location is also wrapped on target object Include：

S108, obtains the kind of information of target area, and instruction transmitter unit transmitting instruction is obtained according to the kind of information And/or the species of configured information.

Obtain the first kind of information of target area；Instruction and/or the configured information for obtaining various species are corresponding multiple Second species information；First kind of information is matched with multiple second species information, so as to obtain instruction transmitter unit hair Penetrate the species of instruction and/or configured information.

It should be noted that first kind of information, second species information can prestore in memory, or Sent in real time by other units.

It should be further noted that when transmitter unit is projecting apparatus, by the mark representative for choosing different shape, color Different types of indication signal.

When it is illuminating part to indicate transmitter unit, different luminescent device (visible ray, infrared light, laser etc. can be set Deng), by choosing different luminescent devices, represent different types of indication signal.

When it is part in kind to indicate transmitter unit, different material objects can be set, by choosing different material objects, represented not Congener indication signal.

Embodiment two,

The embodiment of the present invention eight provides a kind of target object measurement equipment to be checked, and the equipment includes a kind of help and confirms target The device of target location on object.

Described device can manually or automanual mode helps to confirm target location on target object.

Fig. 2 is the second structural frames of the device provided in an embodiment of the present invention for helping to confirm the target location on target object Figure.

As shown in Fig. 2, described device 300 includes：Indicate transmitter unit 310, objective table 320；

The instruction transmitter unit 310, corresponding target object 100 are set, for the target area of target object 100 110 send indication signal and/or instruction.

Projector picture signal, image can only include cue mark, can also further include in addition to cue mark Background.Background can be random color, and cue mark can be arbitrarily different from background color color or arbitrary shape, when When image is incident upon on target object, the cue mark on image just corresponds to the target area on target object, so that complete The instruction of target area on paired target object.

It should be noted that instruction transmitter unit can launch various types of finger according to the type of target area Show.By taking illuminating part as an example, illuminating part can include：The types such as incandescent lamp, infrared ray, laser；In addition, transmitter unit is indicated Can launch different colours, different shape hot spot (such as：Circular, square, triangle), by different type, different colours, The light of different light spot shapes can further discriminate between different types of target area.Using target object as treat plug-in unit or detection PCB Exemplified by plate, different light can represent corresponded on pcb board different electronic component types to be inserted or defect type (such as：Member Part problem itself, solder skip problem etc.).

Objective table 320 is used for drop target object 100, the instruction transmitter unit 310 be arranged on objective table 320 or 310 periphery of objective table.

What the indication signal and/or instruction that the objective table 320 and the instruction transmitter unit 310 are launched can be movable relatively Set.Following situation can specifically be included：

First, objective table 320 is fixedly installed, and the indication signal and/or instruction that instruction transmitter unit 310 is launched are movable.

Indicate that indication signal that transmitter unit 310 launches and/or instruction movable can include：Can mechanical activity set Indicate that being set up in parallel for transmitter unit of instruction of transmitter unit or multiple fixed transmission indication signal angles forms；Or on being The combination for stating two kinds of instruction transmitter unit is realized.

Can mechanical activity set instruction transmitter unit 310 can include various movements, such as：Translation, rotate, so i.e. Make when the target area movement on target object, by adjusting instruction transmitter unit, can to indicate what transmitter unit was sent Indicate the target area on face target object.A kind of situation：The transmitter unit includes emitting module and base, emitting module It is hinged with base so that transmitter unit adjustable angle, so as to realize adjustable transmitting indicating positions by manual operation.

A kind of situation：Operating personnel translate or rotate transmitter unit, so that the instruction of transmitter unit transmitting corresponds to Target location on target object, so as to realize adjustable transmitting indicating positions by manual operation.

Another situation：Instruction transmitter unit 310 includes：Emission part, drive division (not shown to anticipate out).Drive division receives control Device processed forms control instruction according to the parameter being manually entered, and drives emission part to carry out various movements.Drive division can include existing There are the various driving devices in technology, such as：Motor, hydraulic press, aerostatic press.

Being composed for the instruction transmitter unit of multiple fixed transmission indication signal angles, can be by controlling different fingers Show that transmitter unit is launched, so as to fulfill the purpose of transmitting instruction is changed.

2nd, 320 mobilizable setting of objective table, the indication signal and/or instruction that instruction transmitter unit 210 is launched are fixed.

Objective table 320 can include various movements, such as：Translation, rotate, accordingly even when when the target area on target object Domain is moved, and by adjusting objective table 320, can cause the target area on instruction face target object that objective table 320 sends. The objective table 320 of movable setting includes：Emission part, drive division (not shown to anticipate out).Drive division receiving control device is according to people The parameter of work input forms control instruction, drives emission part to carry out various movements.Drive division can include of the prior art each Kind driving device, such as：Motor, hydraulic press, aerostatic press.

3rd, indicate that transmitter unit 310 and objective table 320 can move, so as to realize opposite fortune therebetween jointly It is dynamic.

Relevant detailed description may refer to above example, and it is no longer repeated herein.

It can also be instructions multiple, that each instruction transmitter unit is sent that the instruction transmitter unit, which can be one, It can also be multiple that can be one, and the multiple instruction can be same transmitter unit transmitting or multiple hairs Penetrate unit transmitting.

The transmitter unit can include：Illuminating part, projecting apparatus, part in kind, sounding part etc..

The illuminating part can include, such as：Incandescent lamp, laser, infrared ray.

By described above, since target object measurement equipment to be checked uses help as described above to confirm target on target object The device of position, so that when target object detection is carried out, by artificial or automanual mode to target object On target location indicated, help to confirm target location on target object, improve work efficiency and accuracy rate.

Embodiment three,

The embodiment of the present invention three also provides the target that a kind of help including as described in embodiment one, two confirms target object The equipment that the device in region is applied to industrial circle, the equipment can specifically include：Target object detection device, target object add Construction equipment, target object maintained equipment, target object assembling equipment.

In certain embodiments, various objects can be included in the detection field of target object, the target object, than Such as：Craftwork to be detected or ornament, mechanical component to be detected, glass to be detected, pcb board to be detected etc..With Craftwork is target object, and at least a certain measuring point to be checked on craftwork is to be described in detail exemplified by target area.

Since the device of the target area for helping to confirm target object can be by automatic, semi-automatic, artificial side Formula launches instruction to the target area on the target object.When being detected to craftwork, since craftwork is in itself because of knot The reason for structure complexity or single structure, it is not easy to distinguish measuring point to be checked with other parts, therefore operating personnel are detecting During be easy to not to be quickly found out or judge by accident the test point on craftwork.By using in detection process to craftwork On measuring point to be checked send instruction, can so help operating personnel to easily find the measuring point to be checked on craftwork, thus improve Operating personnel's work efficiency and accuracy rate.

Again since the help confirms that the target area of target object further includes：When target object movement, the mesh The instruction in mark region follows the step of the movement of the target object.During being detected in craftwork, often because regarding Wild or hiding relation is, it is necessary to mobile, rotation craftwork, and so the target area on originally definite target object then can be because of mesh Mark object movement or rotation and can not be identified out, due to by the way of described in embodiment one, the finger of target area Show the movement for following the target object, so no matter how target object moves or rotate, and can cause operating personnel Intuitively confirm the target area on target object.

It in further embodiments, can also equally include various in the area of maintenance of target object, the target object Object, such as：Craftwork to be safeguarded or ornament, mechanical component to be safeguarded, glass to be safeguarded, pcb board to be safeguarded, At this time on target object the defects of, point was the target area of target object.Below using pcb board as target object, on pcb board Defect be target area exemplified by, be described in detail.

, it is necessary to which operating personnel continue to repair to defect after the defects of pcb board, detects, current maintenance mode It is that the target object image after saved mark is sent to display unit and is shown by operating personnel, operating personnel one Side maintenance on one side by display unit observe display screen in object to be repaired the problem of image, while again with pcb board carry out material object The specific region for the defects of contrasting, then just can confirm that on target object.The shortcomings that conventional repairing process of above-mentioned lookup defect It is：

(1) devote a tremendous amount of time on product defects region is found

(2) manually control defect area easily malfunctions, and is especially needing mobile product to observe defect from different perspectives In the case of.

(3) staff is needed constantly to compare display and actual product, therefore staff is easily tired.Cause work Efficiency declines, error probability increase

(4) constantly change observation visual angle can increase the time for looking for defect, and increase error probability.

Since the device of the target area for helping to confirm target object can be by automatic, semi-automatic, artificial side Formula launches instruction to the target area on the target object.When being safeguarded to pcb board, the defects of due to on pcb board Send instruction, such operating personnel do not have to safeguard again that pcb board is in kind and mark the image of pcb board defect to carry out pair on one side Than searching, saving the time improves the accuracy of definite defective locations, therefore improves operating personnel's work efficiency and accurate Rate.

Again since the method for the target area for helping to confirm target object further includes：When the target object move, The instruction of the target area follows the step of the movement of the target object.When pcb board carry out maintenance process in, often because For the visual field or hiding relation, it is necessary to which mobile, rotation pcb board, the so target area on originally definite target object then can It can not be identified out because of the movement of target object or rotation, due to by the way of described in embodiment one, target area Instruction follow the movement of the target object, so no matter how target object moves or rotates, and can to operate Personnel intuitively confirm the target area on target object.

When the target object is glass, the defects of target area can be on glass (including cut, bubble etc. Deng).

In further embodiments, various things can equally be included in the manufacture field of target object, the target object Body, such as：The processing etc. of craftwork or ornament, mechanical component.Below using craftwork as certain on target object, craftwork A processing stand be target area exemplified by, be described in detail.

Since the device of the target area for helping to confirm target object can be by automatic, semi-automatic, artificial side Formula launches instruction to the target area on the target object.When some processing stand is processed on to craftwork, due to work Skill product in itself because complicated or structure it is single the reason for, it is not easy to a certain processing stand is distinguished with other parts, therefore Operating personnel are easy to not to be quickly found out or judge by accident the processing stand on craftwork in process.By using processing During to the point to be processed on craftwork send instruction, can so help operating personnel to easily find to be added on craftwork Work point, therefore improve operating personnel's work efficiency and accuracy rate.

Again since the method for the target area for helping to confirm target object further includes：When the target object move, The instruction of the target area follows the step of the movement of the target object.During being processed in craftwork, often Because the visual field or hiding relation are, it is necessary to mobile, rotation craftwork, the target area on target object so originally determined is then It is able to can not be identified out because of the movement of target object or rotation, due to by the way of described in embodiment one, target area The instruction in domain follows the movement of the target object, and so no matter how target object moves or rotate, and can to grasp Make personnel and intuitively confirm target area on target object.

In further embodiments, field being assembled in target object, the target object can include various objects, than Such as：Craftwork to be assembled or ornament, the mechanical component of parts to be assembled, a certain component to be assembled glass, treat group Fill pcb board of electrical machine element (plug in machine) etc..Exemplified by by electronic component and pcb board assembling, then target object is electronics to be inserted The pcb board of element.

Since the device of the target area for helping to confirm target object can be by automatic, semi-automatic, artificial side Formula launches instruction to the target area on the target object.When being assembled to electronic component and pcb board, by using in plug-in unit During on pcb board treat that insert hole sends instruction, can so help operating personnel to easily find the jack position on pcb board Put, therefore improve operating personnel's work efficiency and accuracy rate.

Again since when that may need mobile, rotation pcb board during the machine of inserting, so originally definite jack is because of target The movement or rotation of object and can not be identified out, due to by the way of described in embodiment one, the instruction of target area The movement of the target object is followed, so no matter how target object moves or rotate, and can make it that operating personnel are straight The target area confirmed on target object of sight.

In relation to help to confirm target area on target object device other associated descriptions referring to specific embodiment one, Two, it is no longer repeated herein.

Implementation four,

Another embodiment of the present invention provides a kind of computer-readable recording medium, and computer-readable recording medium storage has meter Calculation machine program, when computer program is executed by processor, realizes that the help described in above-described embodiment one or two confirms target object The method of upper target area.

Embodiment five,

Fig. 5 is a kind of structure diagram of computer equipment provided in an embodiment of the present invention.

As shown in figure 5, the present invention also provides a kind of computer equipment.The equipment includes：Processor 240, memory 250 And it is stored in the computer program 25 that can be run in the memory 250 and on the processor 240.The processor Realize that the help described in above-described embodiment one or two confirms target area on target object during the 240 execution computer program 25 Method in step.

The description of the processor is referring to above example, and it is no longer repeated herein.

It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work( Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different Functional unit, module are completed, i.e., the internal structure of described device are divided into different functional units or module, more than completion The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used To be that unit is individually physically present, can also two or more units integrate in a unit, it is above-mentioned integrated Unit can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.In addition, each function list Member, the specific name of module are not limited to the protection domain of the application also only to facilitate mutually distinguish.Said system The specific work process of middle unit, module, may be referred to the corresponding process in preceding method embodiment, details are not described herein.

Term " first ", " second ", " the 3rd " in claims of the present invention and specification and above-mentioned attached drawing, " S101 ", " S102 ", " S103 " etc. (if present) are for distinguishing similar object, without specific suitable for describing Sequence or precedence.It should be appreciated that the data so used can exchange in the appropriate case, so as to the embodiments described herein It can be implemented with the order in addition to the content for illustrating or describing herein.In addition, term " comprising " " having " and they Any deformation, it is intended that cover non-exclusive include.Such as：Include the process of series of steps or module, method, Device, product or equipment is not necessarily limited to those steps clearly listed or module, but including not listing clearly Or for these processes, method, apparatus, product or equipment intrinsic other steps or module.

Unless otherwise defined, technical and scientific term all used in this specification is led with belonging to the technology of the present invention The normally understood implication of technical staff in domain is identical.In this specification in the description of the invention it is used belong to be simply The purpose of description specific embodiment, is not intended to the limitation present invention.

"and/or" in this paper terms, is only a kind of incidence relation for describing affiliated partner, and expression may have three kinds of passes System, such as：A and/or B, can represent individualism A, while there are A and B, these three situations of individualism B.In addition, herein Middle character "/", it is a kind of relation of "or" to typically represent forward-backward correlation object.

In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in detail or remembers in some embodiment The part of load, may refer to the associated description of other embodiments.

Those of ordinary skill in the art may realize that each exemplary list described with reference to the embodiments described herein Member and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually Performed with hardware or software mode, application-specific and design constraint depending on technical solution.Professional technician Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed The scope of the present invention.

In embodiment provided by the present invention, it should be understood that disclosed each apparatus and method, can pass through it Its mode is realized.For example, the embodiment of each device described above is only schematical, for example, the module or The division of unit, is only a kind of division of logic function, can there is other dividing mode, such as multiple units when actually realizing Or component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, institute Display or the mutual coupling discussed or direct-coupling or communication connection can be by some interfaces, device or unit INDIRECT COUPLING or communication connection, can be electrical, machinery or other forms.

The unit illustrated as separating component may or may not be physically separate, be shown as unit The component shown may or may not be physical location, you can with positioned at a place, or can also be distributed to multiple In network unit.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.

If the integrated module/unit realized in the form of SFU software functional unit and as independent production marketing or In use, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention realizes above-mentioned implementation All or part of flow in example method, can also instruct relevant hardware to complete, the meter by computer program Calculation machine program can be stored in a computer-readable recording medium, the computer program when being executed by processor, it can be achieved that on The step of stating each embodiment of the method..Wherein, the computer program includes computer program code, the computer program Code can be source code form, object identification code form, executable file or some intermediate forms etc..Computer-readable Jie Matter can include：Can carry any entity or device of the computer program code, recording medium, USB flash disk, mobile hard disk, Magnetic disc, CD, computer storage, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It is it should be noted that described The content that computer-readable medium includes can carry out appropriate increasing according to legislation in jurisdiction and the requirement of patent practice Subtract, such as in some jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and Telecommunication signal.

Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality Example is applied the present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to foregoing each Technical solution described in embodiment is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed Or replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical solution, should all Within protection scope of the present invention.

Claims

1. a kind of device for helping to confirm target area on target object, it is characterised in that the help is confirmed on target object The device of target area include instruction transmitter unit, sensor, objective table and processor；

The objective table, for placing the target object；

The setting that the indication signal and/or instruction of the objective table and the instruction transmitter unit transmitting can be movable relatively；

The processor couples the sensor, and couples the instruction transmitter unit and/or the objective table；The processor The current taken image obtained during the working sensor or current location feedback signal are obtained at work；Parse described current Shooting image or the current location feedback signal, obtain the target object current location；The target area is obtained in institute The relative position on target object is stated, obtains the sensor and the instruction transmitter unit and/or the coordinate of the objective table Transformation relation；According to the target object current location, the relative position and the coordinate conversion relation, the target is obtained Region and the target area current location under the instruction transmitter unit and/or the objective table unified coordinate system；Described in control Objective table and/or the indication signal and/or instruction relative motion, so that the indication signal and/or the corresponding mesh of instruction Mark region current location.

2. the device according to claim 1 for helping to confirm target area on target object, it is characterised in that the instruction Transmitter unit includes being used to launch the illuminating part of optical signal, the projecting apparatus for launching picture signal and/or for launching material object The instruction transmitting part in kind of instruction.

3. the device according to claim 1 or 2 for helping to confirm target area on target object, it is characterised in that described The setting that the indication signal and/or instruction of the objective table and the instruction transmitter unit transmitting can be movable relatively includes

The objective table fixed setting, the indication signal of the instruction transmitter unit transmitting and/or the movable setting of instruction； Or

The indication signal of the instruction transmitter unit transmitting and/or instruction fixed setting, the movable setting of objective table； Or

The indication signal of the instruction transmitter unit transmitting and/or the movable setting of instruction, the objective table is movable to be set Put, and the indication signal of the instruction transmitter unit transmitting and/or instruction and the objective table relative motion.

4. the device according to claim 3 for helping to confirm target area on target object, it is characterised in that described Indicate transmitter unit transmitting the indication signal and/or instruction it is movable set include can mechanical activity set instruction transmitting Unit, can multi-angle transmitting indication signal or the instruction transmitter unit of instruction or multiple fixed angles transmitting indication signal or instruction Being composed of instruction transmitter unit in any one or combination.

5. the device according to claim 1 or 2 for helping to confirm target area on target object, it is characterised in that described Sensor includes imaging sensor or position sensor.

6. help according to claim 1 or 2 confirms the device of the target area on target object, it is characterised in that when During including multiple relative positions, each relative position corresponds to one first match information；The sensor passes for image Sensor, described image sensor obtain the matching image for including match information；It is described to obtain the target area in the target Relative position on object includes parsing the matching image, obtains the second match information, obtains and second match information The corresponding relative position of matched first match information；And/or

When each target object includes multiple relative positions, the help confirms the dress of the target area on target object Put and further include switch unit；The processor lotus root connects the switch unit；The processor further includes at work to be judged whether Obtain the switching command of the switch unit input；If so, obtain next relative position of next target area on target object.

7. help according to claim 1 or 2 confirms the device of the target area on target object, it is characterised in that institute State transmitter unit and different types of indication signal and/or instruction are correspondingly arranged according to the variety classes of target area respectively；It is described Processor further includes the kind of information for obtaining target area at work, and obtaining the transmitter unit according to the kind of information sends out Penetrate indication signal and/or the species of instruction.

8. a kind of computer equipment, including processor, memory and the computer program of storage, it is characterised in that the processing Device obtains the current taken image obtained during the working sensor or current location feedback signal at work；Parsing is described to work as Preceding shooting image or the current location feedback signal, obtain the target object current location；The target area is obtained to exist Relative position on the target object, obtains the sensor and the instruction transmitter unit and/or the seat of the objective table Mark transformation relation；According to the target object current location, the relative position and the coordinate conversion relation, the mesh is obtained Mark region and the target area current location under the instruction transmitter unit and/or the objective table unified coordinate system；Control institute Objective table and/or the indication signal and/or instruction relative motion are stated, so that described in the indication signal and/or instruction correspondence Target area current location.

9. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, its feature exists In the computer program realizes following steps when being executed by processor：

Obtain the current taken image obtained during the working sensor or current location feedback signal；Parse the current shooting Image or the current location feedback signal, obtain the target object current location；The target area is obtained in the mesh The relative position on object is marked, obtains the coordinate transform of the sensor and the instruction transmitter unit and/or the objective table Relation；According to the target object current location, the relative position and the coordinate conversion relation, the target area is obtained With the target area current location under the instruction transmitter unit and/or the objective table unified coordinate system；Control the loading Platform and/or the indication signal and/or instruction relative motion, so that the indication signal and/or the corresponding target area of instruction Domain current location.

A kind of 10. method for helping to confirm target location on target object, it is characterised in that the help is confirmed on target object The method of target location includes：

Relative position of the target area on the target object is obtained, the sensor is obtained and the instruction transmitting is single The coordinate conversion relation of first and/or described objective table；

According to the target object current location, the relative position and the coordinate conversion relation, the target area is obtained With the target area current location under the instruction transmitter unit and/or the objective table unified coordinate system；

The objective table and/or the indication signal and/or instruction relative motion are controlled, so as to the indication signal and/or refer to Show the corresponding target area current location.

11. a kind of device for helping to confirm the target area on target object, it is characterised in that described device includes objective table And/or instruction transmitter unit；

The objective table, for placing the target object；

The instruction transmitter unit and the objective table can be movable relatively so that the instruction of the instruction transmitter unit transmitting The target area on signal and/or the corresponding target object of instruction.

12. help according to claim 11 confirms the device of the target area on target object, it is characterised in that described Transmitter unit is correspondingly arranged different types of indication signal and/or instruction respectively according to the variety classes of target area.

13. a kind of industrial equipment, it is characterised in that the industrial equipment includes the side as described in claim 1-12 any one Help the device for confirming the target area on target object；The industrial equipment includes：Target object detection device, target object add Construction equipment, target object maintained equipment or target object assembling equipment；

When the industrial equipment includes target object detection device；

The target object includes：Examined object；

The target area includes：Measuring point to be checked in examined object；

When the industrial equipment includes target object maintained equipment；

The target object includes：Object to be safeguarded；

When the industrial equipment includes target object process equipment；

The target object includes：Object to be processed；

The target area includes：Point to be processed on object to be processed；

When the industrial equipment includes target object assembling equipment；

The target object includes：Object to be assembled；

The target area includes：Point to be assembled on object to be assembled；