CN108961212A - A kind of position finding and detection method of product, device and electronic equipment - Google Patents

Abstract

The invention discloses a product positioning detection method, device and electronic equipment. The positioning detection method includes: controlling a camera to collect an image of a product to be positioned; determining the minimum circumscribed shape of the product to be positioned in the image; , to determine whether the positioning of the product to be positioned is accurate. In this way, through the positioning detection method of the present invention, it is possible to detect the problem that the edge of the product to be positioned is incomplete, or the suction nozzle is exposed during the process of sucking the product to be positioned. The accuracy of product positioning can be improved, and the production yield of products can be improved. Further, the cost can be saved and the utilization rate of the product can be improved.

Description

Product positioning detection method, device and electronic equipment

technical field

The present invention relates to the technical field of product positioning detection, and more specifically, the present invention relates to a product positioning detection method, device and electronic equipment.

Background technique

3C products are the combination of computer (Computer), communication (Communication) and consumer electronics (Consumer Electronics), usually referring to the hardware of computers, tablet computers, mobile phones, digital cameras, walkmans, electronic dictionaries, and audio-visual players device or digital audio player.

In the production process of electronic components of 3C products, the concentricity of the product has a great influence on the performance, and the bonding equipment is more and more widely used to guide the positioning of the camera. There are many factors that affect the accuracy of product fit, such as incomplete edges of the product, and incorrect positioning caused by the exposure of the suction nozzle when the product is positioned.

While positioning the product, the traditional positioning detection method only detects the center of the product, but does not detect whether the positioning edge is the real edge of the product. Therefore, it is impossible to detect whether the product is incomplete or the nozzle is exposed, which leads to positioning errors. In this way, the tester does not know whether the positioning is accurate, and it is very troublesome to troubleshoot the problem if there is a bad bonding.

Contents of the invention

An object of the present invention is to provide a test system capable of testing the reliability of a brushless motor.

According to a first aspect of the present invention, a product positioning detection method is provided, including:

Control the camera to collect the image of the product to be positioned;

determining the minimum circumscribed shape of the product to be positioned in the image;

According to the central point of the smallest circumscribed shape, it is judged whether the positioning of the product to be positioned is accurate.

Optionally, the product to be positioned is a rectangle, the minimum circumscribed shape is a minimum circumscribed rectangle, and the determining whether the product to be positioned is accurately positioned according to the center point of the minimum circumscribed shape includes:

determining a first axis parallel to the length direction of the minimum circumscribed rectangle and passing through the center of the minimum circumscribed rectangle, and a second axis parallel to the width direction of the minimum circumscribed rectangle and passing through the center of the minimum circumscribed rectangle;

Calculating distances from N points on the edge of the product to be positioned in the length direction to the first axis, and distances from M points on the edge of the product to be positioned in the width direction to the second axis, wherein, N and M are integers greater than 1;

Judging whether the difference between the maximum value and minimum value of the distances between the N points and the first axis exceeds a preset first threshold, or the maximum value of the distances between the M points and the second axis Whether the difference with the minimum value exceeds the preset second threshold; if so, then:

It is determined that the positioning of the product to be positioned is wrong.

Optionally, the product to be positioned is a circle, the minimum circumscribed shape is a minimum circumscribed circle, and judging whether the product to be positioned is accurately positioned according to the center point of the minimum circumscribed shape includes:

Calculate the distance from L points on the edge of the product to be positioned to the center point of the smallest circumscribed circle, where L is an integer greater than 1;

Judging whether the difference between the maximum value and the minimum value of the distance between the L points and the center point of the smallest circumscribed circle exceeds a preset third threshold, if so, then:

It is determined that the positioning of the product to be positioned is wrong.

Optionally, the location detection method also includes:

When it is determined that the positioning of the product to be positioned is wrong, the suction nozzle that sucks the product to be positioned is controlled to pick up another product again.

According to a second aspect of the present invention, a product positioning detection device is provided, comprising:

The collection module is used to control the camera to collect the image of the product to be positioned;

a shape determination module, configured to determine the minimum circumscribed shape of the product to be positioned in the image;

The positioning judging module is used to judge whether the positioning of the product to be positioned is accurate according to the center point of the minimum circumscribed shape.

Optionally, the product to be positioned is a rectangle, the minimum circumscribed shape is a minimum circumscribed rectangle, and the positioning judgment module includes:

An axis determining unit, configured to determine a first axis parallel to the length direction of the minimum circumscribed rectangle and passing through the center of the minimum circumscribed rectangle, and a second axis parallel to the width direction of the minimum circumscribed rectangle and passing through the center of the minimum circumscribed rectangle axis;

The first distance calculation unit is used to calculate the distance from N points on the edge of the length direction of the product to be positioned to the first axis, and the distance from M points on the edge of the width direction of the product to be positioned to the The distance of the second axis, wherein, N and M are integers greater than 1;

The first judging unit is configured to judge whether the difference between the maximum value and the minimum value of the distances between the N points and the first axis exceeds a preset first threshold, or whether the distance between the M points and the first axis is greater than a preset first threshold. Whether the difference between the maximum value and the minimum value of the distance between the two axes exceeds a preset second threshold;

A first judging unit, configured to judge that the positioning of the product to be positioned is wrong when the judging result of the first judging unit is yes.

Optionally, the product to be positioned is a circle, the minimum circumscribed shape is a minimum circumscribed circle, and according to the center point of the minimum circumscribed shape, the positioning judgment module includes:

The second distance calculation unit is used to calculate the distance from L points on the edge of the product to be positioned to the center point of the smallest circumscribed circle, where L is an integer greater than 1;

The second judging unit is used to judge whether the difference between the maximum value and the minimum value of the distance between the L points and the center point of the smallest circumscribed circle exceeds a preset third threshold;

The second judging unit is configured to judge that the positioning of the product to be positioned is wrong when the judging result of the second judging unit is yes.

Optionally, the location detection device also includes:

A control module, configured to control the suction nozzle that picks up the product to be positioned to pick up another product again when the positioning judging module determines that the product to be positioned is wrongly positioned.

According to a third aspect of the present invention, an electronic device is provided, including the positioning detection device according to the second aspect of the present invention.

According to a fourth aspect of the present invention, an electronic device is provided, including a processor and a memory, the memory is used to store instructions, and the instructions are used to control the processor to perform the positioning according to the first aspect of the present invention Detection method.

One of the beneficial effects of the present invention is that, through the positioning detection method of the present invention, the problem that the edge of the product to be positioned is incomplete or the suction nozzle is exposed during the process of sucking the product to be positioned can be detected. The accuracy of product positioning can be improved, and the production yield of products can be improved. Further, the cost can be saved and the utilization rate of the product can be improved.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is a flow chart of an embodiment of a product location detection method according to the present invention;

Fig. 2 is a schematic diagram of an embodiment of a product to be positioned and a minimum circumscribed shape in an image according to the present invention;

Fig. 3 is a schematic diagram of another embodiment of the product to be positioned and the minimum circumscribed shape in the image according to the present invention;

FIG. 4 is a flow chart of another embodiment of a product location detection method according to the present invention;

FIG. 5 is a flow chart of a third embodiment of a product location detection method according to the present invention;

Fig. 6 is a block schematic diagram of an embodiment of a positioning detection device according to a product of the present invention;

Fig. 7 is a block schematic diagram of another embodiment of the positioning detection device according to the product of the present invention;

FIG. 8 is a block schematic diagram of an embodiment of an electronic device according to the present invention.

Detailed ways

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

In order to solve the problem in the prior art that it is very troublesome to troubleshoot problems when product positioning errors lead to poor bonding of subsequent products, a product positioning detection method is provided.

Fig. 1 is a flowchart of an embodiment of a product location detection method according to the present invention.

As shown in Figure 1, the positioning detection method includes:

Step S110, controlling the camera to collect images of the product to be positioned.

For example, in the case of using a camera-guided positioning bonding device to suck the product to be positioned through the suction nozzle, the camera is controlled to collect images of the product to be positioned, and the product to be positioned is located between the suction nozzle and the camera. The product to be positioned may be a product picked up by the suction nozzle.

Step S120, determining the minimum circumscribed shape of the product to be positioned in the image.

Specifically, the minimum circumscribed shape is roughly the same as the shape of the product to be positioned, and may be a regular rectangle or circle. The position, size or rotation angle of the smallest circumscribed shape may be adjusted by polling, so that the edge of the smallest circumscribed shape roughly coincides with the edge of the product to be positioned in the image. The edge of the smallest circumscribed shape roughly coincides with the edge of the product to be positioned in the image includes: the edge of the smallest circumscribed shape is completely in contact with the edge of the product to be positioned in the image, and part of the edge of the product to be positioned in the image is not in contact with the edge of the smallest circumscribed shape coincide. It can be that the part of the product to be positioned in the image exceeds the range of the minimum circumscribed shape, specifically as shown in Figure 2, where the white part is the product to be positioned in the image, and the white box is the minimum circumscribed shape; it can also be the area to be positioned in the image The part of the product is within the range of the minimum circumscribed shape, but does not touch the edge of the minimum circumscribed shape, specifically as shown in Figure 3, where the white part is the product to be positioned in the image, and the white box is the minimum circumscribed shape.

Step S130, according to the edge of the product to be positioned and the center point of the smallest circumscribed shape, it is judged whether the product to be positioned is positioned correctly.

According to the coordinates of the edge of the product to be positioned in the image and the coordinates of the center point of the smallest circumscribed shape in the image, it can be determined whether the product to be positioned is positioned accurately.

On this basis, if the positioning of the product to be positioned is accurate, the suction nozzle that sucks the product to be positioned is controlled to place the product to be positioned on the target position. If the positioning of the product to be positioned is wrong, it may indicate that the edge of the product to be positioned is incomplete, or the suction nozzle is exposed during the process of sucking the product to be positioned. Therefore, in the case that the positioning of the product to be positioned is wrong, the positioning detection method further includes: controlling the suction nozzle that picks up the product to be positioned to abandon the product to be positioned and pick up other products again. Wherein, other products may specifically be the same as the positioning product.

In this way, through the positioning detection method of the present invention, it is possible to detect the problem that the edge of the product to be positioned is incomplete, or the suction nozzle is exposed during the process of sucking the product to be positioned. The accuracy of product positioning can be improved, and the production yield of products can be improved. Further, the cost can be saved and the utilization rate of the product can be improved.

In a specific embodiment of the present invention, the product to be positioned is a rectangle, such as a rectangle with right angles or a rectangle with rounded corners. Then, the minimum circumscribed shape of the product to be positioned in the image is the minimum circumscribed rectangle.

Specifically, the minimum circumscribed rectangle of the product to be positioned in the image may be determined by polling and adjusting the position, length, width, and rotation angle of the rectangular frame. Wherein, at least part of each side of the product to be positioned is in contact with the edge of the smallest circumscribed rectangle.

In the case of determining the minimum circumscribed rectangle, the coordinates of the center point of the minimum circumscribed rectangle in the image, the length, width and rotation angle of the minimum circumscribed rectangle in the image can be obtained.

Further, step S130 may include steps S131a-S135a as shown in FIG. 4 .

Step S131a, determining a first axis parallel to the length direction of the minimum circumscribed rectangle and passing through the center of the minimum circumscribed rectangle, and a second axis parallel to the width direction of the minimum circumscribed rectangle and passing through the center of the minimum circumscribed rectangle.

Wherein, the first axis is a straight line passing through the center point and parallel to the length direction of the smallest circumscribed rectangle, and the second axis is a straight line passing through the center point and parallel to the width direction of the smallest circumscribed rectangle. According to the coordinates of the center point, the length, width and rotation angle of the minimum circumscribed rectangle, the first axis and the second axis can be determined. For example, the first axis l1 may be: A ₁ x+B ₁ y+C ₁ =0; the second axis l2 may be: A ₂ x+B ₂ y+C ₂ =0.

Step S132a, calculating distances from N points on the edge of the product to be positioned in the length direction to the first axis, and distances from M points on the edge of the product to be positioned in the width direction to the second axis.

Wherein, N and M are integers greater than 1, and N and M may be equal or unequal.

In the case that the first axis l1 is A ₁ x+B ₁ y+C ₁ =0; the second axis is A ₂ x+B ₂ y+C ₂ =0, any one of the N points (x ₁ ,y ₁ ) to the first axis can be The distance from any point (x ₂ , y ₂ ) in the M points to the second axis can be

Step S133a, judging whether the difference between the maximum value and the minimum value of the distance between the N points and the first axis exceeds the preset first threshold, or the difference between the maximum value and the minimum value of the distance between the M points and the second axis Whether it exceeds the preset second threshold, if yes, execute step S134a; if no, execute step S135a.

Specifically, it may be to select the maximum value and the minimum value among the distances from N points to the first axis, and calculate the difference between the maximum value and the minimum value, and judge whether the difference exceeds the first threshold, and if so, determine whether the distance between N points and the first axis is The difference between the maximum value and the minimum value of the distance of the first axis exceeds the first threshold; select the maximum value and minimum value of the distances from M points to the second axis, and calculate the difference between the maximum value and the minimum value, and judge whether the difference is If it exceeds the second threshold, if yes, it is determined that the difference between the maximum and minimum distances between the M points and the second axis exceeds the second threshold.

Further, it is also possible to calculate the difference between the distances between any two points of the N points and the first axis, and determine whether the absolute value of the difference between the distances between two points and the first axis exceeds the first threshold, and if so, then Determine that the difference between the maximum value and minimum value of the distance between N points and the first axis exceeds the first threshold; if not, then determine that the difference between the maximum value and minimum value of the distance between N points and the first axis is less than or equal to the first threshold threshold. Calculate the difference between the distances between any two points of the M points and the second axis, and determine whether the absolute value of the difference between the distances between two points and the second axis exceeds the second threshold, and if so, determine the distance of the second axis The difference between the maximum value and the minimum value exceeds the second threshold; if not, it is determined that the difference between the maximum value and the minimum value of the distances from the M points to the second axis is less than or equal to the second threshold.

If the difference between the maximum value and the minimum value of the distances from the N points to the first axis exceeds the first threshold, or the difference between the maximum value and the minimum value of the distances from the M points to the second axis exceeds the second threshold, then perform step S134a . If the difference between the maximum value and the minimum value of the distances from the N points to the first axis is less than or equal to the first threshold, and the difference between the maximum value and the minimum value of the distances from the M points to the second axis is less than or equal to the second threshold, Then execute step S135a.

Step S134a, determining that the positioning of the product to be positioned is wrong.

Step S135a, determining that the positioning of the product to be positioned is accurate.

In another specific embodiment of the present invention, the product to be positioned is a circle, then the smallest circumscribed shape of the product to be positioned in the image is the smallest circumscribed circle.

Specifically, the smallest circumscribed circle of the product to be positioned in the image may be determined by polling to adjust the position and radius of the circular frame. Wherein, at least part of each edge of the product to be positioned is in corresponding contact with the edge of the smallest circumscribed circle.

In the case of determining the minimum circumscribed circle, the coordinates of the center point of the minimum circumscribed rectangle in the image can be obtained.

Further, step S130 may include steps S131b to S134b as shown in FIG. 5 .

Step S131b, calculating the distance from L points on the edge of the product to be positioned to the center point of the smallest circumscribed circle.

In the case where the coordinates of the center point of the smallest circumscribed circle are (x ₀ , y ₀ ), the distance from any point (x ₃ , y ₃ ) in the L points to the center point can be

Step S132b, judging whether the difference between the maximum value and the minimum value of the distance between the L points and the center point of the smallest circumscribed circle exceeds the preset third threshold, if yes, execute step S133b; if not, execute step S134b.

Specifically, it may be to select the maximum value and the minimum value among the distances from L points to the center point, and calculate the difference between the maximum value and the minimum value, and judge whether the difference exceeds the third threshold, and if so, determine whether the distance between the L points and the center point is The difference between the maximum value and the minimum value in the distance of the points exceeds a third threshold.

Further, it is also possible to calculate the distance difference between any two points in the L points and the center point, and judge whether the absolute value of the difference between the distances between the two points and the center point exceeds the third threshold, and if so, determine L The difference between the maximum value and the minimum value in the distances from points to the center point exceeds the third threshold; if not, then determine that the difference between the maximum value and the minimum value in the distances from L points to the center point is less than or equal to the third threshold.

If the difference between the maximum value and the minimum value among the distances from the L points to the central point exceeds the third threshold, step S133b is executed. If the difference between the maximum value and the minimum value among the distances from the L points to the central point is less than or equal to the third threshold, step S134b is performed.

Step S133b, determining that the positioning of the product to be positioned is wrong.

Step S134b, determining that the positioning of the product to be positioned is accurate.

Fig. 6 is a schematic block diagram of an embodiment of a product location detection device according to the present invention.

As shown in FIG. 6 , the location detection device includes an acquisition module 610 , a shape determination module 620 and a location judgment module 630 . The collection module 610 is used to control the camera to collect the image of the product to be positioned; the shape determination module 620 is used to determine the minimum circumscribed shape of the product to be positioned in the image; Whether the position of the product is accurate.

Further, the positioning detection device may also include a control module 710 as shown in FIG. 7 , which is used to control the suction nozzle that picks up the product to be positioned to pick up other products again when the positioning judging module 630 determines that the product to be positioned is wrongly positioned.

In a specific embodiment of the present invention, the product to be positioned is a rectangle, and the minimum circumscribed shape is the minimum circumscribed rectangle. As shown in FIG. A judging unit 633a and a first judging unit 634a. The axis determining unit 631a is used to determine a first axis parallel to the length direction of the minimum circumscribed rectangle and passing through the center of the minimum circumscribed rectangle, and a second axis parallel to the width direction of the minimum circumscribed rectangle and passing through the center of the minimum circumscribed rectangle; the first distance calculation Unit 632a is used to calculate the distance from N points on the edge of the length direction of the product to be positioned to the first axis, and the distance of M points on the edge of the width direction of the product to be positioned to the second axis, wherein N and M are An integer greater than 1; the first judging unit 633a is used to judge whether the difference between the maximum value and the minimum value of the distance between N points and the first axis exceeds a preset first threshold, or, M points to the second axis Whether the difference between the maximum value and the minimum value of the distance exceeds a preset second threshold; the first judging unit 634a is used to judge that the positioning of the product to be positioned is wrong when the judging result of the first judging unit 633a is yes; If the judgment result of the first judging unit 633a is negative, it is judged that the positioning of the product to be positioned is accurate.

In another specific embodiment of the present invention, the product to be positioned is a circle, the smallest circumscribed shape is the smallest circumscribed circle, and according to the center point of the smallest circumscribed shape, as shown in Figure 7, the positioning judging module may also include a second The distance calculation unit 631b, the second judging unit 632b and the second judging unit 633b. The second distance calculation unit 631b is used to calculate the distance from L points on the edge of the product to be positioned to the center point of the smallest circumscribed circle, wherein L is an integer greater than 1; the second judgment unit 632b is used to judge L Whether the difference between the maximum value and the minimum value of the distance from a point to the center point of the smallest circumscribed circle exceeds a preset third threshold; the second judging unit 633b is used for the case where the judgment result of the second judging unit 632b is yes Next, it is judged that the positioning of the product to be positioned is wrong; when the judgment result of the second judging unit 632b is negative, it is judged that the positioning of the product to be positioned is correct.

The present invention also provides an electronic device. In one aspect, the electronic device includes the aforementioned device for detecting product position.

On the other hand, as shown in FIG. 8 , the electronic device 800 may further include a processor 802 and a memory 801, the memory 801 is used to store instructions, and the instructions are used to control the operation of the processor 802 to perform the positioning detection of the above-mentioned product method.

In addition, as shown in FIG. 8 , the electronic device 800 also includes an interface device 803 , an input device 804 , a display device 805 , a communication device 806 , a camera 807 , a speaker microphone assembly 808 and the like. Although multiple devices are shown in FIG. 8 , the present invention may only involve some of them, for example, a processor 801 , a memory 802 , a camera 807 and the like.

The above-mentioned communication device 806 is capable of wired or wireless communication, for example.

The above-mentioned interface device 803 includes, for example, an earphone jack, a USB interface, and the like.

The aforementioned input device 804 may include, for example, a touch screen, buttons, and the like.

The above-mentioned display device 805 is, for example, a liquid crystal display, a touch display, and the like.

The above-mentioned embodiments mainly focus on describing differences from other embodiments, but those skilled in the art should be clear that the above-mentioned embodiments can be used alone or in combination with each other as required.

Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments, but the technical field It should be clear to those skilled in the art that the above-mentioned embodiments can be used alone or in combination with each other as required. In addition, as for the device embodiment, since it corresponds to the method embodiment, the description is relatively simple, and for relevant parts, refer to the description of the corresponding part of the method embodiment. The system embodiments described above are illustrative only, where modules illustrated as separate components may or may not be physically separate.

The invention may be an apparatus, method and/or computer program product. A computer program product may include a computer readable storage medium having computer readable program instructions thereon for causing a processor to implement various aspects of the present invention.

A computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. A computer readable storage medium may be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanically encoded device, such as a printer with instructions stored thereon A hole card or a raised structure in a groove, and any suitable combination of the above. As used herein, computer-readable storage media are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., pulses of light through fiber optic cables), or transmitted electrical signals.

Computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or downloaded to an external computer or external storage device over a network, such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or a network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

Computer program instructions for performing operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or Source or object code written in any combination, including object-oriented programming languages—such as Smalltalk, C++, etc., and conventional procedural programming languages—such as the “C” language or similar programming languages. Computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In cases involving a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as via the Internet using an Internet service provider). connect). In some embodiments, an electronic circuit, such as a programmable logic circuit, field programmable gate array (FPGA), or programmable logic array (PLA), can be customized by utilizing state information of computer-readable program instructions, which can Various aspects of the invention are implemented by executing computer readable program instructions.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It should be understood that each block of the flowcharts and/or block diagrams, and combinations of blocks in the flowcharts and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine such that when executed by the processor of the computer or other programmable data processing apparatus , producing an apparatus for realizing the functions/actions specified in one or more blocks in the flowchart and/or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause computers, programmable data processing devices and/or other devices to work in a specific way, so that the computer-readable medium storing instructions includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks in flowcharts and/or block diagrams.

It is also possible to load computer-readable program instructions into a computer, other programmable data processing device, or other equipment, so that a series of operational steps are performed on the computer, other programmable data processing device, or other equipment to produce a computer-implemented process , so that instructions executed on computers, other programmable data processing devices, or other devices implement the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, a portion of a program segment, or an instruction that includes one or more Executable instructions. In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by means of hardware, implementation by means of software, and implementation by a combination of software and hardware are all equivalent.

Having described various embodiments of the present invention, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles of the various embodiments, practical applications or technical improvements over technologies in the market, or to enable other persons of ordinary skill in the art to understand the various embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims (10)

1. a kind of position finding and detection method of product characterized by comprising

Control camera acquires the image of product to be positioned；

Determine the external shape of minimum of product to be positioned described in described image；

According to the central point of the external shape of minimum, judge the product to be positioned whether accurate positioning.

2. position finding and detection method according to claim 1, which is characterized in that the product to be positioned be rectangle, it is described most Small external shape is minimum circumscribed rectangle, and the central point according to the external shape of minimum judges the product to be positioned Whether accurate positioning includes:

Determine be parallel to the minimum circumscribed rectangle length direction and by the first axle at the minimum circumscribed rectangle center and It is parallel to the minimum circumscribed rectangle width direction and by the second axis at the minimum circumscribed rectangle center；

N number of point in the lengthwise edge of the product to be positioned is calculated to the distance of the first axle and described undetermined The distance of M point in the widthwise edges of position product to the second axis, wherein N and M is integer greater than 1；

Whether the difference for judging the maxima and minima of distance of the N number of point to the first axle is more than preset the One threshold value, alternatively, whether the difference of the maximum value of distance of the M point to the second axis and minimum value is more than to preset Second threshold；If so, then:

Determine the product orientation mistake to be positioned.

3. position finding and detection method according to claim 1, which is characterized in that the product to be positioned be circle, it is described most Small external shape is minimum circumscribed circle shape, and the central point according to the external shape of minimum judges the product to be positioned Whether accurate positioning includes:

Calculate L point on the edge of the product to be positioned to the minimum circumscribed circle shape central point distance, wherein L For the integer greater than 1；

Judge the distance of central point of the L point to the minimum circumscribed circle shape maximum value and minimum value difference whether be more than Preset third threshold value, if so, then:

Determine the product orientation mistake to be positioned.

4. position finding and detection method according to claim 1, which is characterized in that the position finding and detection method further include:

In the case where determining the product orientation mistake to be positioned, the suction nozzle that the product to be positioned is drawn in control is drawn again Other products.

5. a kind of locating and detecting device of product characterized by comprising

Acquisition module acquires the image of product to be positioned for controlling camera；

Shape determination module, for determining the external shape of minimum of product to be positioned described in described image；

Location determination module judges whether the product to be positioned positions for the central point according to the external shape of minimum Accurately.

6. locating and detecting device according to claim 5, which is characterized in that the product to be positioned be rectangle, it is described most Small external shape is minimum circumscribed rectangle, and the location determination module includes:

Axis determination unit is parallel to the minimum circumscribed rectangle length direction and by the minimum circumscribed rectangle for determination The first axle at center and be parallel to the minimum circumscribed rectangle width direction and pass through the minimum circumscribed rectangle center Two axis；

First distance computing unit, N number of point in lengthwise edge for calculating the product to be positioned to described first The distance of M point in the distance of axis and the widthwise edges of the product to be positioned to the second axis, wherein N With the integer that M is greater than 1；

First judging unit, for judging that the difference of maxima and minima of distance of the N number of point to the first axle is No is more than preset first threshold, alternatively, the maximum value of distance of the M point to the second axis and minimum value Whether difference is more than preset second threshold；

First judging unit, for determining described to be positioned in the case where the judging result of first judging unit, which is, is Product orientation mistake.

7. locating and detecting device according to claim 5, which is characterized in that the product to be positioned be circle, it is described most Small external shape is minimum circumscribed circle shape, the central point according to the external shape of minimum, the location determination module packet It includes:

Second distance computing unit, L point on edge for calculating the product to be positioned to the minimum circumscribed circle shape Central point distance, wherein L is integer greater than 1；

Second judgment unit, for judge central point of the L point to the minimum circumscribed circle shape distance maximum value and Whether the difference of minimum value is more than preset third threshold value；

Second judging unit, for determining described to be positioned in the case where the judging result of the second judgment unit, which is, is Product orientation mistake.

8. locating and detecting device according to claim 5, which is characterized in that the locating and detecting device further include:

Control module, in the case where the location determination module determines the product orientation mistake to be positioned, control to be inhaled The suction nozzle of the product to be positioned is taken to draw other products again.

9. a kind of electronic equipment, which is characterized in that including the locating and detecting device according to any one of claim 5-8.

10. a kind of electronic equipment, which is characterized in that including processor and memory, the memory is for storing instruction, described Instruction executes position finding and detection method described in any one of -4 according to claim 1 for controlling the processor.