CN109746827B

CN109746827B - Positioning method, device and system for material taking and placing of glass sweeping machine

Info

Publication number: CN109746827B
Application number: CN201811576512.7A
Authority: CN
Inventors: 赵振平
Original assignee: Dongguan Ruihang Photoelectric Technology Co ltd
Current assignee: Dongguan Ruihang Photoelectric Technology Co ltd
Priority date: 2018-12-22
Filing date: 2018-12-22
Publication date: 2020-05-19
Anticipated expiration: 2038-12-22
Also published as: CN109746827A

Abstract

The invention discloses a positioning method for taking and placing materials for a glass sweeping machine, which comprises a jig positioning step and a loading positioning step, wherein the jig positioning step comprises the following steps: acquiring a material tray image, identifying at least two characteristic marks on a material tray from the image, calculating the rotation angle of the material tray, and then calculating the orientation and the position of each jig of the material tray according to the known relative position relationship between each characteristic mark and each jig, wherein at least one circle center passing through the material tray is arranged in the connecting line of the at least two characteristic marks; the feeding and positioning steps comprise: before the glass to be processed is placed on the jigs, the tray image is obtained again, at least one characteristic mark on the tray and/or the characteristic marks on the jigs are identified from the image, and whether the identified characteristic marks are correct or not is judged according to the known relative position relation between each characteristic mark and each jig. The method increases the flexibility of the feeding and taking processes and is convenient for dealing with the material trays with various staying angles.

Description

Positioning method, device and system for material taking and placing of glass sweeping machine

Technical Field

The invention relates to the technical field of glass sweeping, in particular to a material taking and placing positioning method, a material taking and placing positioning device and a material taking and placing system for a glass sweeping machine.

Background

The glass light scanning is a process for polishing the outer surface of a glass cover plate (such as a mobile phone cover plate) after CNC machining. The glass sweeps the ray apparatus and can sweep the equipment of light to the glass apron promptly, will treat on the tool of processing glass placing the charging tray, the charging tray begins to rotate, and the mill subassembly is swept the light to treating processing glass on the tool, sweeps and finishes after the light, and charging tray stall takes off processed glass, accomplishes the overall process that glass swept the light.

In the above-mentioned in-process of placing glass of treating processing and taking off processed glass, because the angle after charging tray stall at every turn is different, or because the angle of charging tray before other reasons lead to the material loading is different, consequently can lead to the position and the orientation of each tool on the charging tray also to have certain randomness, adopt automation equipment to sweep the ray apparatus to glass and carry out the material loading and when getting the material, can't obtain the position and the orientation of tool according to the mode of inputing the target position in advance, be unfavorable for glass to sweep ray apparatus material loading and get the process that realizes further automation.

Meanwhile, when the glass sweeping machine is used for feeding and taking materials at present, the problems that the feeding position of a glass raw material is deviated, the glass raw material is reversely arranged or the glass raw material is fed in an inverted mode and the like exist.

Disclosure of Invention

Objects of the invention

In order to overcome at least one defect in the prior art, increase the flexibility of the feeding and taking process, be convenient for dealing with the material trays with various retention angles, and realize the automatic operation of the feeding and taking process of the glass sweeping optical machine, the invention provides the following technical scheme.

(II) technical scheme

As a first aspect of the invention, the invention discloses a material taking, placing and positioning method for a glass sweeping machine, which comprises the following steps:

a jig positioning step: acquiring an image of a first side of a charging tray of a glass sweeping optical machine, identifying at least two characteristic marks fixedly arranged on the charging tray from the image, calculating a rotation angle of the charging tray, and then calculating the orientation and the position of each jig on the first side of the charging tray according to the known relative position relationship between each characteristic mark and each jig, wherein the first side is the side of the charging tray provided with the jig, and at least one connecting line of the at least two characteristic marks passes through the circle center of the charging tray;

a feeding positioning step: before the glass to be processed is placed on the corresponding jig, the image of the first side of the material tray is obtained again, at least one characteristic mark on the material tray and/or characteristic marks fixedly arranged on the jigs are identified from the image, and whether the identified characteristic marks are correct or not is judged according to the known relative position relationship between each characteristic mark and each jig so as to determine whether the material loading position is correct or not.

In a possible embodiment, the center position of the tray is known, and in the jig positioning step, an image of the first side of the tray is taken from directly above the center position of the tray.

In one possible embodiment, the feature is identified as a circular hole.

In one possible embodiment, the method further comprises:

raw material deviation rectifying step: after the glass to be processed is picked up, the image of the glass to be processed is obtained, the position deviation of the glass to be processed is obtained by identifying the position of the characteristic model of the glass to be processed in the image, and the position offset of the glass to be processed is adjusted according to the position deviation, so that the glass to be processed can be placed in the processing area of the jig during feeding.

In a possible implementation manner, the characteristic model of the glass to be processed can also identify the orientation of the characteristic model, and in the raw material deviation rectifying step, the orientation of the surface to be processed of the glass to be processed is obtained by identifying the characteristic model of the glass to be processed in the image, and whether the orientation of the surface to be processed is correct is confirmed, so that the surface to be processed of the glass to be processed can be back to the jig during loading.

In one possible embodiment, the glass to be processed has a characteristic model comprising at least one of: a through hole with an arc-shaped edge, a rounded corner of the glass, and a straight edge of the glass.

In a possible embodiment, the glass to be processed is a mobile phone glass cover plate, and the through hole with the arc-shaped edge is a mobile phone camera hole.

In one possible embodiment, the method further comprises:

a mark cleaning step: before the raw material deviation rectifying step, cleaning all the characteristic marks on the glass scanning machine in sequence.

In a possible embodiment, in the mark cleaning step, the positions of all the feature marks on each tray are obtained according to the feature marks on each tray identified in the jig positioning step, and all the feature marks on all the trays are cleaned according to the positions.

In one possible embodiment, the method further comprises:

taking and positioning: and obtaining the orientation and the position of the processed glass on each jig according to the orientation and the position of the jig calculated in the jig positioning step.

As a second aspect of the invention, the invention also discloses a material taking and placing method for the glass sweeping machine, which comprises the following steps:

the positioning method for taking and placing materials in any technical scheme;

taking materials: and taking down the processed glass from the jigs in sequence according to the orientation and the position of the processed glass on each jig obtained in the material taking and positioning step of the material taking and positioning method.

A feeding step: and after the correct loading position is confirmed in the loading positioning step of the material taking and placing positioning method, placing the glass to be processed on the corresponding jig.

As a third aspect of the present invention, the present invention further discloses a material taking and positioning apparatus for implementing the material taking and positioning method, including an image acquisition device installed on a manipulator, and a central control device in communication connection with the image acquisition device;

the image acquisition equipment is used for respectively acquiring images of the first side of the glass sweeping optical machine tray in the jig positioning step and the feeding positioning step;

the central control equipment comprises a jig positioning calculation module and a feeding positioning confirmation module;

the jig positioning calculation module is used for recognizing at least two characteristic marks fixedly arranged on the material tray from the image acquired by the image acquisition equipment in the jig positioning step, calculating the rotation angle of the material tray, and then calculating the orientation and the position of each jig on the first side of the material tray according to the known relative position relationship between each characteristic mark and each jig;

the feeding positioning confirmation module is used for recognizing at least one characteristic mark on the material tray and/or characteristic marks fixedly arranged on a plurality of jigs from the image acquired by the image acquisition equipment in the feeding positioning step, and judging whether the recognized characteristic marks are correct or not according to the known relative position relationship between each characteristic mark and each jig so as to confirm whether the feeding position is correct or not; wherein the content of the first and second substances,

the first side is one side of the material tray provided with the jig, and at least one circle center passing through the material tray is arranged in a connecting line of the at least two characteristic marks.

In a possible implementation manner, the central control device further includes a storage module, the storage module stores data of the center position of the tray, and the central control device controls the manipulator to drive the image acquisition device to move to a corresponding position, so that the image acquisition device acquires an image of the first side of the tray from directly above the center position of the tray in the jig positioning step.

In one possible embodiment, the feature is identified as a circular hole.

In a possible embodiment, the image acquisition device is further used for acquiring an image of the glass to be processed after the glass to be processed is picked up by the mechanical arm;

the central control equipment further comprises a raw material deviation rectifying module, wherein the raw material deviation rectifying module is used for identifying the position of a characteristic model of the glass to be processed in the image of the glass to be processed so as to obtain the position deviation of the glass to be processed, adjusting the position offset of the glass to be processed according to the position deviation, and adjusting the pose of the manipulator according to the position deviation, so that the glass to be processed can be placed in a processing area of the jig during loading.

In a possible embodiment, the model of the characteristics of the glass to be processed is also able to identify its orientation; the raw material deviation rectifying module is also used for obtaining the orientation of the surface to be processed of the glass to be processed by identifying the characteristic model of the glass to be processed in the image and confirming whether the orientation of the surface to be processed is correct or not so that the surface to be processed of the glass to be processed can be back to the jig during feeding.

In a possible implementation mode, the material taking and placing positioning device further comprises a brush assembly arranged on the manipulator; the central control equipment further comprises a mark cleaning module, and the mark cleaning module is used for controlling the brush assembly to clean all the characteristic marks on the glass cleaning machine in sequence before the manipulator picks up the glass to be processed.

In a possible implementation manner, the mark cleaning module obtains the positions of all the feature marks on the material tray according to the feature marks on the material tray recognized by the jig positioning calculation module, and controls the brush assembly to clean all the feature marks on all the material trays according to the positions of all the feature marks.

In a possible implementation manner, the central control device further includes a material taking and positioning module, and the material taking and positioning module is configured to obtain the orientation and the position of the processed glass on each jig according to the orientation and the position of the jig calculated in the jig positioning and calculating module.

As a third aspect of the present invention, the present invention also discloses a material taking and placing system for a glass sweeping machine, comprising:

the positioning device for taking and placing materials in any technical scheme; and the number of the first and second groups,

the manipulator is used for taking the processed glass from the jigs in sequence according to the orientation and the positions of the processed glass on the jigs obtained in the material taking and positioning module of the material taking and placing positioning device, and the manipulator is also used for placing the glass to be processed on the corresponding jig after the loading position is confirmed to be correct in the loading positioning confirmation module of the material taking and placing positioning device.

In a possible implementation manner, the manipulator is further configured to be controlled by the raw material deviation rectifying module of the material taking and placing positioning device to adjust the posture of the manipulator, so that the glass to be processed can be placed in the processing area of the jig during feeding.

(III) advantageous effects

The invention provides a material taking and placing positioning method, a material taking and placing positioning device and a material taking and placing system for a glass sweeping machine, which have the following beneficial effects:

1. through setting up the characteristic sign and discerning the characteristic sign on the charging tray, can discern that glass sweeps position and orientation of each tool on the ray apparatus charging tray, increased the flexibility of material loading and material taking process, can deal with the charging tray of various stop angles for glass sweeps the material loading of ray apparatus and gets the material process and can realize automated operation.

2. The position deviation of the glass to be processed is obtained by identifying the characteristic model of the glass to be processed on the manipulator, and the glass to be processed is subjected to position compensation so as to carry out deviation correction and ensure that the glass to be processed can fall into the area of the jig during feeding.

3. Through the characteristic model of the glass to be processed on the recognition manipulator, whether the glass to be processed is placed reversely or inversely can be judged, and the glass to be processed is guaranteed to be scanned and is a surface to be processed of the glass to be processed.

4. Through the characteristic mark of the cleaning material disc, the characteristic mark is prevented from being blocked or blocked by polishing liquid, and the visibility of the characteristic mark is ensured.

5. When the processed glass is arranged on the material tray, the processed glass on the material tray is positioned through the material taking and positioning step so as to be matched with and taken down the processed glass.

Drawings

The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present invention and should not be construed as limiting the scope of the present invention.

Fig. 1 is a schematic flow chart of a first embodiment of a pick-and-place positioning method for a glass light sweeping machine according to the present invention.

Fig. 2 is a schematic view of a tray taken directly above the center point of the tray in a reference state.

Fig. 3 is a schematic view of a tray taken directly above the center point of the tray after rotation of the tray.

Fig. 4 is a front view of a turnover plate with a plurality of material trays of the glass sweeping machine.

FIG. 5 is a schematic diagram showing the deviation comparison of the sucking disc sucking the glass to be processed.

Fig. 6 is a schematic flow chart illustrating a material pick-and-place method for a glass light sweeping machine according to a first embodiment of the present invention.

Fig. 7 is a block diagram of a first embodiment of a material pick-and-place positioning device for a glass light sweeping machine according to the present invention.

Fig. 8 is a block diagram of a first embodiment of a material taking and placing system for a glass scanner according to the present invention.

Reference numerals:

characteristic identification of A, B and C material tray

100, 200, 300, 400 tray

110 jig

111 characteristic mark of jig

900 turnover plate

901, 902 charging tray rotating shaft

903 sucker

904 glass to be processed

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.

It should be noted that: in the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are some embodiments of the present invention, not all embodiments, and features in embodiments and embodiments in the present application may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate their degree of importance, order, and the like.

The division of modules, units or components herein is merely a logical division, and other divisions may be possible in an actual implementation, for example, a plurality of modules and/or units may be combined or integrated in another system. Modules, units, or components described as separate parts may or may not be physically separate. The components displayed as cells may or may not be physical cells, and may be located in a specific place or distributed in grid cells. Therefore, some or all of the units can be selected according to actual needs to implement the scheme of the embodiment.

The first embodiment of the positioning method for the pick-and-place material of the glass light sweeping machine provided by the invention is described in detail below with reference to fig. 1 to 5. This embodiment mainly is applied to glass and sweeps the material loading of ray apparatus and gets the material, can discern that glass sweeps the position and the orientation of each tool on the ray apparatus charging tray, has increased the flexibility of material loading and material taking process, can deal with the charging tray of various stop angles for glass sweeps the material loading of ray apparatus and gets the material process and can realize automated operation.

As shown in fig. 1, the positioning method for taking and placing material provided in this embodiment includes a jig positioning step 100 and a loading positioning step 200.

The jig positioning step 100 includes:

step 101, after the tray of the glass-cleaning machine stops rotating, or before the loading of the glass-cleaning machine is needed but the current orientation and position of each fixture are not obtained, an image of the side of the tray of the glass-cleaning machine where the fixture is installed is obtained, where the image is usually a top view.

Specifically, the image acquisition device moves to an area above the material tray 100, acquires an overhead image of the material tray 100 of the glass scanner, and sends the image to the central control device. It will be appreciated that the above-mentioned upper region to which the image capturing device is moved is not necessarily directly above the center point of the tray 100, and may be any point in a horizontal region directly above the tray 100 that contains a projection of the center point of the tray, but the horizontal region is of a small extent to prevent the captured image from being too skewed to cause inaccurate signature recognition. Meanwhile, every time an image is acquired, in the jig positioning step or other steps, the straight-line distance between the image acquisition device and the plane of the tray 100 is determined and fixed as much as possible, so that errors of the identified rotation angle caused by different heights are prevented.

And 102, identifying at least two characteristic marks in the plurality of characteristic marks fixedly arranged on the material tray from the image acquired in the step 101, and calculating the rotation angle of the material tray according to the at least two characteristic marks. Wherein, the straight line in which at least one line is located in the interconnection lines of the at least two characteristic marks passes through the center of the charging tray.

The characteristic mark is a fixed mark of the material tray, rotates along with the rotation of the material tray, but the relative position relation between the characteristic mark and the material tray and between the characteristic mark and each fixture on the material tray cannot be changed. The feature identifier is generally a shaped entity, such as a bump, a self-illuminating object, etc., and occupies a small area on the tray. The tray is provided with a plurality of characteristic marks, so that the probability of the recognized characteristic marks can be increased.

In general, there are other feature identifiers on a straight line connecting each feature identifier of the plurality of feature identifiers with the center of the material tray, that is, at least one straight line connecting each feature identifier with each other passes through the center of the material tray. Moreover, the number of the feature marks is not easy to be set too much, and usually three feature marks are set.

specifically, fig. 2 is a schematic diagram of the tray 100 acquired by the image acquisition device in a reference state, where an X axis is a reference axis, the feature identifiers A, B, C are located on the same straight line and all pass through the center of the tray 100, the positions of the feature identifiers A, B, C, the positions of the center points of all the jigs 110, and the orientations of all the jigs are known, the central control device recognizes the feature identifiers a and B, or recognizes the feature identifiers B and C, or recognizes the feature identifiers a and C, or recognizes the feature identifiers A, B and C from the image, a connecting line of any two feature identifiers can indicate the rotation angle of the tray 100, for example, when the feature identifiers a and C are recognized, the rotation angle is calculated by using the connecting line of the center points of the feature identifiers a and C, and as shown in fig. 3, the rotation angle α of the tray 100 is 90 °.

Step 103, after the rotation angle of the tray 100 is calculated, the orientation and position of each fixture on the side of the tray where the fixture is installed are calculated according to the known relative position relationship between each feature mark and each fixture. Because the relative position relation among the characteristic mark, the material tray and the jigs can not be changed, the relative angle can not be changed, the position of the characteristic mark is also known, the jigs are also fixed on the material tray, the arrangement mode of each jig is fixed, and the position of each jig is also known. Therefore, after at least two characteristic marks arranged on the material outlet disc are identified, the rotation angle of the material disc on the horizontal plane can be known, and the orientation and the position of each jig can be calculated according to the rotation angle. Particularly, the characteristic marks on the material tray adopt round holes with certain depth.

Specifically, since the relative position relationship between each feature identifier and the center point of each fixture 110 is not changed, the central control device can calculate the current orientation (i.e., the angle between the feature identifier and the connection line) of each fixture 110 and the current position of the center point of each fixture according to the relative position relationship between each feature identifier and each fixture in the reference state by knowing the rotation angle of the tray. It is understood that the positions of the feature identifiers and the positions of the jigs are generally spatial coordinates in a three-dimensional space.

The feeding and positioning steps comprise:

step 201, before the glass to be processed is placed on the corresponding jig, that is, after the glass to be processed is transferred to the area above the target jig according to the orientation and position of the jig calculated in the jig positioning step 100, an image of the side of the tray where the jig is installed is obtained again. Generally, the image capturing device moves with the glass to be processed to a certain height above the target jig, but is not located right above the target jig (i.e. right above the glass to be processed to be placed). Generally, the loading of the tray 100 is to place the glass to be processed on each fixture 110 of the tray 100 in units of one or more pieces, and each loading is performed once and the positioning step is performed, so that an image is obtained, but because the loaded fixtures are different each time, the images obtained each time are different.

Step 202, identifying at least one characteristic mark on the discharge tray and/or characteristic marks fixedly arranged on the plurality of jigs from the image obtained in the step 201, and judging whether the identified characteristic marks are correct according to the known relative position relationship between each characteristic mark and each jig so as to confirm whether the loading position is correct.

The glass to be processed is located above the target jig and is ready to be placed on the target jig, and at the moment, the image acquisition equipment is located above the target jig and has a certain distance from the central point of the target jig in the horizontal direction. After the tray image is acquired, there are three ways to confirm whether the loading position is correct.

First, it is determined whether the loading position is correct by identifying at least one feature on the tray in the image obtained in step 201. As shown in fig. 3, because the orientations of the jigs are different, when the end picking device places the glass to be processed, the end picking device can rotate, so that the angle of the glass to be processed on the horizontal plane is the same as the orientation of the jig, and the glass to be processed can fall into the area of the jig. And no matter the image acquisition equipment rotates along with the end picking equipment or does not rotate along with the end picking equipment, the central control equipment stores the relative position relation between each characteristic mark of the material disc and the central point of each jig, so that whether the loading position is correct or not can be identified.

Under the condition that the image acquisition equipment rotates along with the end picking equipment, the central control equipment can calculate the relative position relation between each characteristic mark on the material disc and the central point of the target jig after the image acquisition equipment rotates along with the end picking equipment according to the rotation angle. Therefore, as long as the relative position relationship between the feature identifier identified in the image and the central point of the target jig in the image conforms to the calculated relative position relationship, it is indicated that the material loading position is correct at this time, and the end pickup device can start to descend and place the glass to be processed on the target jig.

Under the condition that the image acquisition equipment does not rotate along with the end pickup equipment, the image acquired by the image acquisition equipment at this time has no angle difference on the horizontal plane with the image acquired in the step 101, and only the shooting position is different, so that the central control equipment can directly identify the relative position relationship between the feature identifier in the image and the central point of the target jig and judge whether the feature identifier is matched with the calculated relative position relationship. And if the matching is carried out, the blanking can be started.

Secondly, in the case that the image capturing device does not rotate with the end picking device, it is also possible to confirm whether the loading position is correct by recognizing the characteristic marks fixedly provided on the plurality of jigs in the image obtained in step 201. The plurality of jigs may or may not include target jigs. As shown in fig. 2 and 3, the jig may also be provided with a feature mark 111, and the jig may also be provided with a circular hole with a certain depth as a feature mark as on the tray, for example, the center point of the jig is provided with a circular hole as a feature mark, or a negative pressure suction slot hole as a feature mark. In the image obtained by using any jig 110 as the target jig on the tray 100, the feature identifiers 111 of the jigs 110 in each image do not overlap and are separated by a certain distance, so that the image is easy to identify. Meanwhile, the central control equipment stores the relative position relation between each characteristic mark of the material disc and the central point of each jig, so that the position where the characteristic mark of each jig in the image correspondingly acquired by the target jig should appear can be known. For example, in the leftmost fixture in fig. 3, in the image acquired by the image acquisition device with the fixture as the target fixture, the feature identifier may appear right to the right of the image, and the feature identifier may also appear obliquely above and below, but the feature identifier may not be recognized on the left of the image, and if the feature identifier is recognized, it indicates that the material loading position is wrong.

It can be understood that there are cases where a plurality of trays are disposed on the flipping disk of the glass-cleaning machine, for example, in fig. 4, four trays, namely, the tray 100, the tray 200, the tray 300, and the tray 400, are disposed on the flipping disk 900 and are respectively located at four vertices of a square, the tray 100 is rotatably connected to the flipping disk 900 through the rotating shaft 901, and the tray 300 is rotatably connected to the flipping disk 900 through the rotating shaft 902. At this time, taking fig. 3 as an example, assuming that the tray 100 in fig. 3 is the tray located at the upper left corner of the square in fig. 4, there are fixtures on the tray 300 on the right side of the fixture 110 located at the rightmost side of the tray in fig. 3, but since there is a certain distance between the trays, the determination of the feature identifier is not disturbed.

Thirdly, the confirmation is carried out simultaneously by combining the first and the second methods, so that the accuracy of the confirmation result is increased, whether the two confirmation results are consistent or not can be checked, and if the confirmation results are not consistent, the problem occurs in one mode.

It will be appreciated that the linear distance between the image capture device and the plane of the tray in step 201 is substantially the same as the linear distance between the image capture device and the plane of the tray in step 101 of the jig positioning step, so that the result of the image recognition in step 202 is closer to the result calculated in step 103.

It should be noted that when the glass scanner has a plurality of material trays and all the material trays need to be loaded, the jig positioning step can be sequentially executed on each material tray to obtain the orientation and position of each jig on all the material trays, and then the glass to be processed is sequentially placed on each jig of each material tray; or after the jig positioning step is carried out on one of the material trays, the feeding positioning step is firstly carried out, the jig of the material tray is filled with the glass to be processed, then the jig positioning step is carried out on the next material tray, and then the material is fed until all the material trays are filled with the raw materials.

In one embodiment, the center position of the tray is known, and since the tray usually rotates around the center position (center of circle), and the turnover disk is just turned over without displacement in the horizontal direction or the vertical direction, the spatial position of the center of the tray is never changed.

In step 101 of positioning the jig, an image of the tray on the side where the jig is installed is obtained from right above the known center point of the tray. The deviation error of each feature identification in the image obtained from the position right above the central point of the tray is minimum on average. In particular, a feature mark may be provided at the center of the tray 100, such as feature mark a in fig. 2 and 3, i.e., at the center of the tray 100. If the center of the circle of the material tray is provided with the characteristic mark, the at least two identified characteristic marks can comprise the characteristic mark A at the center of the circle or can not comprise the characteristic mark A at the center of the circle. However, it can be understood that, if the feature identifier is not set at the center of the tray 100 but the position of the center point of the tray is known, the rotation angle of the tray can be calculated by only recognizing one feature identifier in step 102 of the fixture positioning step, because the image is taken from directly above the center of the tray and the shooting point is fixed, the distance between each other feature identifier and the center feature identifier can be known in advance, and therefore, when the image is taken from the shooting point, only three feature identifiers, for example, as shown in fig. 2 and 3, A, B, C, can be set on the same straight line, and point a is the center point of the tray. The connecting line can be obtained only by locating above the point A and identifying the point B or the point C, and the current orientation and position of each jig can be obtained by judging the included angle between the connecting line and the X axis.

Treat that processing glass is placed in the raw materials silo usually, the manipulator picks up treating processing glass from the raw materials silo, because in the raw materials silo, treat that processing glass's locating position may have some deviations to when picking up treating processing glass, the manipulator also may have certain end and pick up positional deviation, consequently in order to prevent to take place crooked etc. when placing treating processing glass on the tool and lead to the unable normal condition of treating processing glass of tool, treat processing glass earlier and carry out the position and rectify. Therefore, in one embodiment, the pick-and-place positioning method further includes a raw material deviation rectifying step 150. The raw material deviation rectifying step occurs after the jig positioning step is completed and before the feeding positioning step is executed, and comprises the following steps:

and 151, after picking up the glass to be processed, the mechanical arm moves the glass to be processed to the shooting position of the glass scanning optical machine, and an industrial camera of the glass scanning optical machine acquires an image of the glass to be processed and sends the image to the central control device.

And firstly moves to the shooting position of the industrial camera, and the industrial camera shoots the image of the specific position of the glass to be processed. The shooting position is a fixed position arranged on the glass sweeping bare engine and is used for shooting each piece of glass to be processed before the glass sweeping bare engine is fed. The specific position of the glass to be processed, which is shot, can be the whole glass to be processed or can be a part of the position of the glass to be processed.

And 152, after the central control device acquires the image of the glass to be processed, identifying the position of the characteristic model of the glass to be processed in the image to obtain the position deviation of the glass to be processed. The feature model mainly refers to the shape of the external shape, and the position of the feature model also includes the angular feature. And comparing the position of the appearance shape in the image and the included angle between the appearance shape and the reference axis with the position and the angle of the appearance shape in the standard end picking state to obtain the position deviation between the appearance shape and the reference axis, wherein the position deviation comprises the angle deviation. The standard end picking state means that when the position where the mechanical arm picks up the glass to be processed is an ideal position, for example, when a suction cup end picker of the mechanical arm sucks the glass to be processed, the center of a suction surface on the suction cup end picker coincides with the center of the glass to be processed, and a reference axis perpendicular to the horizontal plane of the material tray is perpendicular to one side line of the square glass to be processed.

As shown in fig. 5, the suction cup end effector has only one suction cup 903 and sucks the side surface of the sheet-like glass to be processed. The circle center of the suction cup 903 coincides with the center of the glass 904 to be processed as a solid line in the figure, the distance L2 between the circle center of the suction cup 903 and the center of the bottom side of the cross section of the glass 904 to be processed is half of the height of the glass 904 to be processed, and the vertical downward reference axis (vertical dotted line in the figure) is perpendicular to the side line of the cross section of the glass 904 to be processed, and there is no position deviation, which is an ideal state. However, if a large deviation occurs in the suction position of the suction cup end effector, the rectangle shown by the dotted line in fig. 5 is to-be-processed glass with a large deviation, wherein the center of the circle of the suction cup 903 does not coincide with the center of the to-be-processed glass of the dotted line in the figure, the distance L1 between the center of the circle of the suction cup 903 and the center of the bottom edge of the cross section of the to-be-processed glass 904 is less than half of the height of the to-be-processed glass, and the included angle θ between the vertical downward reference axis (the vertical dotted line in the figure) and the side line of the cross section of the to-be-processed glass. Although the glass to be processed can be sucked under the state, when the glass to be processed is placed on the jig, the glass to be processed cannot fall into the jig area completely due to the position deviation, and normal processing is influenced, even the glass is damaged, and the light scanning equipment is arranged. Therefore, it is necessary to calculate the positional deviation for each glass to be processed.

Specifically, the glass to be processed has a characteristic model comprising at least one of: a through hole with an arc-shaped edge, a rounded corner of the glass, and a straight edge of the glass. The position of the entire glass relative to the end effector is identified by identifying the above-described feature model and its position from the image. Furthermore, the glass to be processed is a mobile phone glass cover plate, and the through hole with the arc-shaped edge is a mobile phone camera shooting hole.

Step 153, adjusting the position offset of the glass to be processed according to the position offset, so that the glass to be processed can be placed in the processing area of the jig during loading. Specifically, as shown in fig. 5, in the case of a position deviation or a position deviation exceeding a set range, the central control device identifies a deviation amount of the position deviation (slightly smaller than L2-L1) through an image, adjusts a position deviation amount of the glass to be processed, changes a target position where the manipulator moves above the jig, and performs position compensation on the glass to be processed. The position offset comprises an offset component on the angle, so the central control equipment also identifies the offset (90-theta) on the angle through the image, adjusts the position offset of the glass to be processed, changes the rotation angle of the mechanical end pick and performs position compensation on the glass to be processed. Through the adjustment offset for when treating that processing glass is transferred to the tool top, treat that processing glass's projection can fall into the region of tool, even there is the deviation, also can guarantee that the deviation is in a reasonable within range and can not influence glass and sweep the light process, guarantee that glass sweeps the normal clear going on.

When the manipulator picks up the glass to be processed from the raw material trough, if the direction of the glass to be processed is reversed or inverted, the glass to be processed picked up by the manipulator is also reversed or inverted, however, only one specific surface of the glass to be processed needs to be scanned, and the scanning process of the glass can be influenced after the glass to be processed is inverted. However, the material deviation rectifying step 150 may not be able to identify the front and back sides and the inversion, so in one embodiment, the characteristic model of the glass to be processed can also identify its own orientation, which includes the orientation of the surface to be processed (whether inverted) and the top orientation (whether inverted) of the glass to be processed. In the raw material deviation rectifying step, the orientation of the surface to be processed of the glass to be processed is obtained by identifying the characteristic model of the glass to be processed in the image, and whether the orientation of the surface to be processed is correct is confirmed, so that the surface to be processed of the glass to be processed can face away from the jig during feeding, and the surface to be processed faces outwards. For example, a camera hole is formed in the upper right corner of the surface to be processed of the mobile phone glass cover plate, in the raw material deviation rectifying step, whether the camera hole exists in the image needs to be identified, if the camera hole does not exist, the mobile phone glass cover plate is inverted (equivalent to horizontal turning) or inverted (equivalent to vertical turning), and because the four corners of the mobile phone glass cover plate are the same (both rounded corners), whether the mobile phone glass cover plate is inverted or inverted cannot be identified only according to the rounded corner edges or the straight sidelines.

Because when glass sweeps the light, the charging tray can dip into the polishing solution, so when the turnover panel rotates to make the charging tray that has swept the light turn to top one side, the polishing solution can be left on the charging tray, and the residual polishing solution can block or block the characteristic mark, so that the central control equipment can not recognize the characteristic mark in the charging tray image obtained by the image acquisition equipment. Therefore, in one embodiment, the pick-and-place positioning method further comprises a mark cleaning step.

The mark cleaning step comprises the following steps: before the raw material deviation rectifying step 150, the central control device controls the brush assembly to sequentially clean all the feature marks on the glass scanner so that the feature marks can be seen from the material tray. The brush assembly is typically cleaned by wiping. The occurrence time sequence of the mark cleaning step and the jig positioning step is divided into the following two conditions:

first, the mark cleaning step is performed after the jig positioning step. The central control equipment calculates the rotation angle of the material tray through the characteristic marks on the material tray recognized in the jig positioning step, continuously calculates the orientation and the position of each jig, then obtains the positions of all the characteristic marks on the material tray according to the rotation angle of the material tray, and controls the brush assembly to stretch out and clean each characteristic mark on the material tray in a rotating mode. Although the jig positioning step is already executed before the mark cleaning step, the step of identifying the characteristic mark of the tray is also needed in the subsequent feeding positioning step and other possible steps, and if the cleaning is not performed frequently, the characteristic mark cannot be identified smoothly in the next turn-over of the tray after the feeding and the sweeping.

This is suitable for the case where only one tray needs to be cleaned and the tray is empty (no glass is placed) when the jig positioning step is performed.

Secondly, the mark cleaning step and the jig positioning step are carried out synchronously. In the jig positioning step, after the rotation angle of the material tray is calculated, the central control device starts to obtain the positions of all the characteristic marks on the material tray according to the rotation angle of the material tray, controls the hairbrush assembly to clean all the characteristic marks on the material tray, meanwhile, the central control device continues to calculate the orientation and the positions of all the jigs, and the mark cleaning step and the sub-step of the jig positioning step are performed synchronously. This kind of condition is applicable to having a plurality of charging trays to clear up to each charging tray all unloaded (not having placed glass) the condition when carrying out tool positioning step.

It should be noted that, if there are multiple trays on the flipping disk and the trays are empty, the mark cleaning step is usually performed on one tray immediately after the mark positioning step is performed on the tray, or the mark cleaning step is performed on one tray immediately after the mark positioning step is performed on the tray, so as to save time.

If the glass raw materials which are scanned and finished are not arranged on the material tray, the raw material deviation rectifying step can be executed after the jig positioning step is finished, and then the feeding positioning step can be executed. If the glass raw materials which are finished by sweeping are loaded on the material tray, and the material tray is rotated by the turnover plate and just turned over from the polishing solution to the upper side, the processed glass on the jig is taken down in sequence after the positioning step of the jig is finished, then the raw material deviation rectifying step can be executed, and then the feeding and positioning step can be executed. Therefore, in one embodiment, the material taking and placing positioning method further includes a material taking and positioning step 120.

The material taking positioning step 120 includes: the orientation and position of the processed glass on each jig are obtained according to the orientation and position of the jig calculated in the jig positioning step 100. When the tray is fully loaded with the processed glass, the jig positioning step 100 is performed, the rotation angle of the tray is calculated according to the jig positioning step 100, the orientation and position (e.g., the center point position) of each jig on the tray are calculated, and then the orientation and position (e.g., the center point position) of the processed glass on each jig are obtained according to the orientation and position of each jig. Then the central control equipment controls the mechanical arm to move to the position right above the center of each jig on the material tray in sequence, the mechanical arm end pick-up is rotated to enable the angle of the mechanical arm end pick-up to be the same as the direction of the processed glass, then the processed glass is taken down and placed into a finished product trough, and the processed glass on all the jigs is completely taken down. At the moment, all jigs on the material tray are in an idle state, the mark cleaning step can be executed at the moment, namely, the jig positioning step is executed firstly, then the material taking positioning step is executed, after the material is taken, the mark cleaning step is executed, then the central control equipment can control the mechanical arm to pick up the glass to be processed, the raw material deviation rectifying step is executed, and the material loading positioning step is executed.

The first embodiment of the material taking and placing method for the glass light sweeping machine provided by the invention is described in detail below with reference to fig. 6. This embodiment mainly is applied to glass and sweeps the material loading of ray apparatus and gets the material, can discern that glass sweeps the position and the orientation of each tool on the ray apparatus charging tray, has increased the flexibility of material loading and material taking process, can deal with the charging tray of various stop angles for glass sweeps the material loading of ray apparatus and gets the material process and can realize automated operation.

As shown in fig. 6, the material taking and placing method provided in this embodiment mainly includes a jig positioning step 100, a material taking positioning step 120, and a material loading positioning step 200 in the aforementioned material taking and placing positioning method, and further includes a material taking step 130 and a material loading step 210.

When the tray is just turned over, that is, each glass on the tray is in a processed state, the jig positioning step 100 and the material taking positioning step 120 are sequentially performed, and after each processed glass is positioned by the material taking positioning step 120, the material taking step 130 is performed. The material taking step 130 includes: and taking down the processed glass from the jigs in sequence according to the orientation and the position of the processed glass on each jig obtained in the material taking and positioning step 120. After the material taking step 130 is performed, the material tray is in an idle state, and no glass material exists on each jig of the material tray. When the glass scanning is required to be continued, the loading positioning step 200 is started, and then the loading step 210 is executed. The feeding step 210 includes: after the loading position is confirmed to be correct in the loading positioning step 200, the glass to be processed is placed on the corresponding jig until the material tray is in a full-load state, that is, each jig is loaded with the glass to be processed. And then the turnover disc can be turned over, the material disc is immersed into the polishing solution below the turnover disc for polishing, and the turnover disc is turned over again after the polishing is finished, so that the material taking and placing method is repeatedly executed.

In one embodiment, the center position of the tray is known, and in the jig positioning step, an image of the tray on the side where the jig is installed is acquired from the position right above the known center point of the tray.

In one embodiment, the feature is identified as a circular hole.

In one embodiment, the method for taking and placing further includes a raw material deviation rectifying step 150, where the raw material deviation rectifying step 150 occurs before the feeding positioning step 200, and includes:

and step 151, acquiring an image of the glass to be processed after the glass to be processed is picked up.

And 152, obtaining the position deviation of the glass to be processed by identifying the position of the characteristic model of the glass to be processed in the image. Specifically, the glass to be processed has a characteristic model comprising at least one of: a through hole with an arc-shaped edge, a rounded corner of the glass, and a straight edge of the glass. Furthermore, the glass to be processed is a mobile phone glass cover plate, and the through hole with the arc-shaped edge is a mobile phone camera shooting hole.

Step 153, adjusting the position offset of the glass to be processed according to the position offset, so that the glass to be processed can be placed in the processing area of the jig during loading.

In one embodiment, the characteristic model of the glass to be processed can also identify the orientation of the characteristic model, and in the raw material deviation rectifying step, the orientation of the surface to be processed of the glass to be processed is obtained by identifying the characteristic model of the glass to be processed in the image, and whether the orientation of the surface to be processed is correct is confirmed, so that the surface to be processed of the glass to be processed can be back to the jig during feeding.

In one embodiment, the glass to be processed has a characteristic model that includes at least one of: a through hole with an arc-shaped edge, a rounded corner of the glass, and a straight edge of the glass.

In one embodiment, the glass to be processed is a mobile phone glass cover plate, and the through hole with the arc-shaped edge is a mobile phone camera hole.

In one embodiment, the material taking and placing method further comprises a mark cleaning step. The mark cleaning step may be performed after the material taking step 130 and before the material deviation rectifying step 150, or may be performed simultaneously with the jig positioning step 100. The mark cleaning step comprises the following steps: before the raw material deviation rectifying step, all the characteristic marks on the glass scanning machine are cleaned in sequence,

in one embodiment, in the mark cleaning step, positions of all the feature marks on each tray are obtained according to the feature marks on each tray identified in the jig positioning step, and all the feature marks on all the trays are cleaned according to the positions.

The execution flow and execution of the fixture positioning step 100, the material taking positioning step 120, the mark cleaning step, the raw material deviation rectifying step 150, the material loading positioning step 200, and the like in this embodiment can refer to the execution described in the first embodiment of the material taking and placing positioning method, and are not described in detail.

The first embodiment of the positioning device for taking and placing the glass cleaning machine provided by the invention is described in detail with reference to fig. 7. This embodiment mainly is applied to glass and sweeps the material loading of ray apparatus and gets the material, can discern that glass sweeps the position and the orientation of each tool on the ray apparatus charging tray, has increased the flexibility of material loading and material taking process, can deal with the charging tray of various stop angles for glass sweeps the material loading of ray apparatus and gets the material process and can realize automated operation.

As shown in fig. 7, the positioning device for taking and placing material provided in this embodiment mainly includes: an image acquisition device and a central control device. The image acquisition equipment is installed on the manipulator, and the central control equipment is in communication connection with the image acquisition equipment. In fig. 7, the left side of the dotted line is the component structure of the material taking and placing positioning device, and the right side is the external device.

The image acquisition equipment is used for respectively acquiring images of the side, provided with the jig, of the glass sweeping optical machine tray in the jig positioning step and the feeding positioning step.

The central control equipment comprises a jig positioning calculation module and a feeding positioning confirmation module.

The jig positioning calculation module is used for identifying at least two characteristic marks in a plurality of characteristic marks fixedly arranged on the material tray from the image acquired by the image acquisition equipment in the jig positioning step, calculating the rotation angle of the material tray, and then calculating the orientation and the position of each jig on one side of the material tray according to the known relative position relationship between each characteristic mark and each jig. Wherein, there is at least one centre of a circle that crosses the charging tray in the line of at least two characteristic marks.

The feeding positioning confirmation module is used for identifying at least one characteristic mark on the discharging disc and/or characteristic marks fixedly arranged on a plurality of jigs from the image acquired by the image acquisition equipment in the feeding positioning step, and judging whether the identified characteristic marks are correct or not according to the known relative position relationship between each characteristic mark and each jig so as to confirm whether the feeding position is correct or not.

In one embodiment, the central control device further includes a storage module, the storage module stores data of the center position of the tray, and the central control device controls the manipulator to drive the image acquisition device to move to a corresponding position, so that the image acquisition device acquires an image of the tray on the side where the jig is installed from directly above the center position of the tray in the jig positioning step.

In one embodiment, the feature is identified as a circular hole.

In one embodiment, the image acquisition device is further used for acquiring an image of the glass to be processed after the glass to be processed is picked up by the manipulator;

In one embodiment, the characteristic model of the glass to be processed is also able to identify its orientation; the raw material deviation rectifying module is also used for obtaining the orientation of the surface to be processed of the glass to be processed by identifying the characteristic model of the glass to be processed in the image and confirming whether the orientation of the surface to be processed is correct or not so that the surface to be processed of the glass to be processed can be back to the jig during feeding.

In one embodiment, the material taking and placing positioning device further comprises a brush assembly arranged on the manipulator; the central control equipment further comprises a mark cleaning module, and the mark cleaning module is used for controlling the brush assembly to clean all characteristic marks on the glass sweeping machine in sequence before the manipulator picks up the glass to be processed.

In one embodiment, the mark cleaning module obtains the positions of all the feature marks on the material tray according to the feature marks on the material tray recognized by the jig positioning calculation module, and controls the brush assembly to clean all the feature marks on all the material trays according to the positions of all the feature marks on the material tray.

In an embodiment, the central control device further includes a material taking and positioning module, and the material taking and positioning module is configured to obtain the orientation and the position of the processed glass on each jig according to the orientation and the position of the jig calculated in the jig positioning and calculating module.

The first embodiment of the material taking and placing system for the glass light sweeping machine provided by the invention is described in detail with reference to fig. 8. This embodiment mainly is applied to glass and sweeps the material loading of ray apparatus and gets the material, can discern that glass sweeps the position and the orientation of each tool on the ray apparatus charging tray, has increased the flexibility of material loading and material taking process, can deal with the charging tray of various stop angles for glass sweeps the material loading of ray apparatus and gets the material process and can realize automated operation.

As shown in fig. 8, the material taking and placing system provided in this embodiment mainly includes: the manipulator is connected with the central control device of the material taking and placing positioning device in a communication manner. The material taking and placing positioning device comprises image acquisition equipment and central control equipment. The image acquisition equipment is installed on the manipulator, and the central control equipment is in communication connection with the image acquisition equipment. In fig. 8, the left side of the dotted line is the component structure of the material taking and placing system, and the right side is the external device.

The central control equipment comprises a jig positioning calculation module, a feeding positioning confirmation module and a material taking positioning module.

The material taking and positioning module is used for obtaining the orientation and the position of the processed glass on each jig according to the orientation and the position of the jig calculated in the jig positioning and calculating module.

The manipulator is used for taking off the processed glass from the jigs in sequence according to the orientation and the position of the processed glass on each jig obtained in the material taking and positioning module of the material taking and positioning device, and is also used for placing the glass to be processed on the corresponding jig after the feeding position is confirmed to be correct in the feeding positioning confirmation module of the material taking and positioning device.

In one embodiment, the manipulator is further configured to be controlled by the raw material deviation rectifying module of the material taking and placing positioning device to adjust the posture of the manipulator, so that the glass to be processed can be placed in the processing area of the jig during feeding.

In one embodiment, the feature is identified as a circular hole.

The connection relationship and the use function of the image acquisition device, the jig positioning calculation module, the feeding positioning confirmation module, the material taking positioning module, the storage module, the raw material deviation correction module, the brush assembly, the mark cleaning module and other components in this embodiment can refer to the structural arrangement described in the first embodiment of the material taking and positioning device, and are not described in detail.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A positioning method for taking and placing materials for a glass sweeping machine is characterized by comprising the following steps:

a jig positioning step: acquiring an image of a first side of a charging tray of a glass sweeping optical machine, identifying at least two characteristic marks fixedly arranged on the charging tray from the image, calculating the rotation angle of the charging tray, and then calculating the orientation and the position of each jig on the first side of the charging tray according to the relative position relation between the at least two characteristic marks and each jig, wherein the first side is the side of the charging tray provided with the jig, and at least one connecting line of the at least two characteristic marks passes through the circle center of the charging tray;

a feeding positioning step: and after the glass to be processed is transferred to the area above the target jig according to the orientation and the position of the jig calculated in the jig positioning step and before the glass to be processed is placed on the corresponding jig, acquiring the image of the first side of the material tray again, identifying at least one material tray characteristic mark on the material tray and/or jig characteristic marks fixedly arranged on a plurality of jigs from the image, and judging whether the identified at least one material tray characteristic mark on the material tray and/or jig characteristic marks fixedly arranged on the plurality of jigs are correct according to the relative position relation between the at least two characteristic marks and each jig so as to confirm whether the material loading position is correct.

2. The pick-and-place positioning method as claimed in claim 1, wherein the center position of the tray is known, and in the jig positioning step, an image of the first side of the tray is taken from directly above the center position of the tray.

3. The pick-and-place positioning method of claim 1, further comprising:

4. The positioning method for picking and placing the material according to claim 3, wherein the characteristic model of the glass to be processed further identifies the orientation of the characteristic model, and in the step of correcting the material deviation, the orientation of the surface to be processed of the glass to be processed is obtained by identifying the characteristic model of the glass to be processed in the image, and whether the orientation of the surface to be processed is correct is confirmed, so that the surface to be processed of the glass to be processed can be back to the jig during feeding.

5. A pick-and-place positioning method as claimed in claim 3, further comprising:

6. The pick-and-place positioning method as claimed in any one of claims 1 to 5, further comprising:

7. A material taking and placing method for a glass cleaning machine is characterized by comprising the following steps:

the pick-and-place positioning method of claim 6;

taking materials: according to the orientation and the position of the processed glass on each jig obtained in the material taking and positioning step of the material taking and placing positioning method, sequentially taking down each processed glass from the jig;

8. The material taking and placing positioning device for implementing the material taking and placing positioning method as claimed in claim 6, characterized by comprising an image acquisition device arranged on a manipulator and a central control device in communication connection with the image acquisition device;

the jig positioning calculation module is used for recognizing at least two characteristic marks fixedly arranged on the material tray from the image acquired by the image acquisition equipment in the jig positioning step, calculating the rotation angle of the material tray, and then calculating the orientation and the position of each jig on the first side of the material tray according to the relative position relationship between the at least two characteristic marks and each jig;

the feeding positioning confirmation module is used for recognizing at least one tray characteristic mark on the tray and/or jig characteristic marks fixedly arranged on a plurality of jigs from the image acquired by the image acquisition equipment in the feeding positioning step, and judging whether the recognized at least one tray characteristic mark on the tray and/or jig characteristic marks fixedly arranged on the plurality of jigs are correct or not according to the relative position relationship between the at least two characteristic marks and each jig so as to confirm whether the feeding position is correct or not; wherein the content of the first and second substances,

9. The positioning device for taking and placing the material as claimed in claim 8, wherein the central control device further comprises a material taking and positioning module, and the material taking and positioning module is used for obtaining the orientation and the position of the processed glass on each jig according to the orientation and the position of the jig calculated in the jig positioning and calculating module.

10. A get and put material system for glass sweeps ray apparatus which characterized in that includes:

the pick-and-place positioning device of claim 9; and the number of the first and second groups,