CN110450422B - Article attaching method, device and computer-readable storage medium - Google Patents
Article attaching method, device and computer-readable storage medium Download PDFInfo
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- CN110450422B CN110450422B CN201910841099.0A CN201910841099A CN110450422B CN 110450422 B CN110450422 B CN 110450422B CN 201910841099 A CN201910841099 A CN 201910841099A CN 110450422 B CN110450422 B CN 110450422B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/56—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using mechanical means or mechanical connections, e.g. form-fits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
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Abstract
The invention discloses a method for attaching an article, which comprises the following steps: acquiring an image acquired by an image acquisition module, and determining a target article in the image, wherein the target article comprises at least one of a fitting article and a fitted article; determining a reference position of the target object, and determining the offset of the target object according to the reference position; after the position of the target object is adjusted according to the offset, at least one of a gluing object and a glued object is controlled to move, so that the gluing object and the glued object are glued. The invention also discloses a fitting device of the article and a computer readable storage medium. The invention improves the quality of the laminated product.
Description
Technical Field
The invention relates to the technical field of a fitting process, in particular to a fitting method and device of an article and a computer readable storage medium.
Background
The lamination is a calendering method in which two or more layers of thin films of the same or different types are laminated to form an integral film having a large thickness, or a method in which the surface of one article is laminated to the surface of another article.
At present, most of the fitting between articles is manually performed, and manual fitting is determined through human eyes, so that errors exist more or less, and the quality of a product obtained through fitting is poor.
Disclosure of Invention
The invention mainly aims to provide a method and a device for attaching an article and a computer-readable storage medium, and aims to solve the problem of poor quality of the attached product.
In order to achieve the above object, the present invention provides a method for attaching an article, including the steps of:
acquiring an image acquired by an image acquisition module, and determining a target article in the image, wherein the target article comprises at least one of a fitting article and a fitted article;
determining a reference position of the target object, and determining the offset of the target object according to the reference position;
after the position of the target object is adjusted according to the offset, at least one of a gluing object and a glued object is controlled to move, so that the gluing object and the glued object are glued.
In one embodiment, the step of determining a reference position of the target item and determining an offset of the target item according to the reference position includes:
determining a plurality of reference points of a plane where the binding surface of the target article is located, wherein the reference position comprises the plurality of reference points;
determining a correction point corresponding to each reference point on the binding surface;
and determining the offset of the target object according to the reference points and the correction points corresponding to the reference points.
In an embodiment, the step of determining the offset of the target object according to each of the reference points and the calibration point corresponding to the reference point includes:
connecting any two reference points to construct a reference line, and connecting correction points corresponding to the reference points of the constructed reference line to obtain a correction line;
determining an included angle between the correction line and the reference line to obtain an offset angle, and rotating the binding surface according to the offset angle to obtain a rotated correction line;
and determining the longitudinal offset and the transverse offset of the target object according to the coordinates of the end point of the rotated correction line and the coordinates of the end point of the reference line, wherein the offsets comprise the transverse offset and the longitudinal offset.
In an embodiment, the step of rotating the attaching surface according to the offset angle to obtain a rotated correction line includes:
determining the center of the binding surface;
and rotating the binding surface by the offset angle by taking the center as a rotation center to enable the correction line to be overlapped or parallel with the reference line so as to obtain a rotated correction line.
In one embodiment, the step of determining the center of the abutting surface comprises:
determining each angular point of the binding surface;
and performing circle fitting on each angular point, and taking the center of a circle obtained by fitting as the center of the binding surface.
In one embodiment, the step of determining a plurality of reference points of the plane where the abutting surface of the target article is located includes:
determining a plurality of reference points on the attaching surface of the attached article;
determining the height between the attaching surface of the attached article and the attaching surface of the target article, wherein the target article is the attached article;
and determining the reference point corresponding to each reference point on the plane where the binding surface of the target article is located according to the height.
In one embodiment, the step of determining the reference position of the target item comprises:
taking a projection of a binding surface of the bound article on a plane where the binding surface of the bound article is located as a reference position of the target article, wherein the target article is the bound article, or the target article comprises the bound article and the bound article;
or taking a projection of the attaching surface of the attached article on a plane where the attaching surface of the attached article is located as a reference position of the target article, wherein the target article comprises the attached article, or the target article comprises the attached article and the attached article.
In one embodiment, the step of determining the reference position of the target item comprises:
determining the position of the attached article on the working surface;
and taking the position as a reference position of the attached article, and taking a projection of the reference position of the attached article on a plane where a bonding surface of the attached article is located as the reference position of the attached article.
In order to achieve the above object, the present invention further provides an article attaching device, which includes an image capturing module, a driving mechanism, a memory, a processor, and an article attaching program stored in the memory and executable on the processor, wherein the driving mechanism and the image capturing module are respectively connected to the processor, and the article attaching program implements the above steps of the article attaching method when executed by the processor.
In order to achieve the above object, the present invention further provides a computer-readable storage medium storing a fitting program of an article, which when executed by a processor implements the steps of the fitting method of an article as described above.
The article attaching device acquires an image acquired by an image acquisition module, determines a target article according to the image, wherein the target article comprises at least one of an attaching article and an attached article, determines a reference position of the target article, determines an offset of the target article according to the reference position, and controls at least movement of the attaching article and the attached article after adjusting the position of the target article according to the offset so as to complete attachment of the attaching article and the attached article. Because the offset of the attached article is determined by the attaching device of the article, manual determination is not needed, and the accuracy of the offset is ensured, so that the yield of the attached product is high, and the quality of the product is improved.
Drawings
FIG. 1 is a schematic diagram of a hardware architecture of a fitting apparatus for an article according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a method of attaching an article according to the present invention;
FIG. 3 is a schematic flow chart illustrating a second embodiment of a method of attaching an article according to the present invention;
FIG. 4 is a schematic flow chart illustrating a third embodiment of a method of attaching an article according to the present invention;
fig. 5 is a schematic flow chart of a fourth embodiment of the attaching method of the article of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: acquiring an image acquired by an image acquisition module, determining a target article in the image, wherein the target article comprises at least one of a fitting article and a fitted article, determining a reference position of the target article, and determining an offset of the target article according to the reference position; after the position of the target object is adjusted according to the offset, at least one of a gluing object and a glued object is controlled to move, so that the gluing object and the glued object are glued.
Because the offset of the attached article is determined by the attaching device of the article, manual determination is not needed, and the accuracy of the offset is ensured, so that the yield of the attached product is high, and the quality of the product is improved.
As an implementation, the attaching means of the article may be as shown in fig. 1.
The embodiment scheme of the invention relates to a fitting device of an article, which comprises: a processor 101, e.g. a CPU, a memory 102, a communication bus 103, an image acquisition module 104 and a driving mechanism 105. The communication bus 103 is used for realizing connection and communication among the components, the image acquisition module 104 can be a camera, and the driving mechanism 105 is used for controlling the attached article or attaching the attached article. The memory 102 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). As shown in fig. 1, a memory 103 as a kind of computer storage medium may include a fit program of an article; and processor 101 may be configured to invoke a fit program for the article stored in memory 102 and perform the following operations:
acquiring an image acquired by an image acquisition module, and determining a target article in the image, wherein the target article comprises at least one of a fitting article and a fitted article;
determining a reference position of the target object, and determining the offset of the target object according to the reference position;
after the position of the target object is adjusted according to the offset, at least one of a gluing object and a glued object is controlled to move, so that the gluing object and the glued object are glued.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
determining a plurality of reference points of a plane where the binding surface of the target article is located, wherein the reference position comprises the plurality of reference points;
determining a correction point corresponding to each reference point on the binding surface;
and determining the offset of the target object according to the reference points and the correction points corresponding to the reference points.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
connecting any two reference points to construct a reference line, and connecting correction points corresponding to the reference points of the constructed reference line to obtain a correction line;
determining an included angle between the correction line and the reference line to obtain an offset angle, and rotating the binding surface according to the offset angle to obtain a rotated correction line;
and determining the longitudinal offset and the transverse offset of the target object according to the coordinates of the end point of the rotated correction line and the coordinates of the end point of the reference line, wherein the offsets comprise the transverse offset and the longitudinal offset.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
determining the center of the binding surface;
and rotating the binding surface by the offset angle by taking the center as a rotation center to enable the correction line to be overlapped or parallel with the reference line so as to obtain a rotated correction line.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
determining each angular point of the binding surface;
and performing circle fitting on each angular point, and taking the center of a circle obtained by fitting as the center of the binding surface.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
determining a plurality of reference points on the attaching surface of the attached article;
determining the height between the attaching surface of the attached article and the attaching surface of the target article, wherein the target article is the attached article;
and determining the reference point corresponding to each reference point on the plane where the binding surface of the target article is located according to the height.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
taking a projection of a binding surface of the bound article on a plane where the binding surface of the bound article is located as a reference position of the target article, wherein the target article is the bound article, or the target article comprises the bound article and the bound article;
or taking a projection of the attaching surface of the attached article on a plane where the attaching surface of the attached article is located as a reference position of the target article, wherein the target article comprises the attached article, or the target article comprises the attached article and the attached article.
In one embodiment, processor 101 may be configured to invoke a fit program for an article stored in memory 102 and perform the following operations:
determining the position of the attached article on the working surface;
and taking the position as a reference position of the attached article, and taking a projection of the reference position of the attached article on a plane where a bonding surface of the attached article is located as the reference position of the attached article.
According to the scheme, the attaching device of the article acquires the image acquired by the image acquisition module, so as to determine the target article according to the image, the target article comprises at least one of the attaching article and the attached article, then the reference position of the target article is determined, so as to determine the offset of the target article according to the reference position, and after the position of the target article is adjusted according to the offset, at least movement of the attaching article and the attached article is controlled, so as to complete attachment of the attaching article and the attached article. Because the offset of the attached article is determined by the attaching device of the article, manual determination is not needed, and the accuracy of the offset is ensured, so that the yield of the attached product is high, and the quality of the product is improved.
An embodiment of the method for attaching an article according to the present invention is provided based on a hardware structure of the apparatus for attaching an article.
Referring to fig. 2, fig. 2 is a first embodiment of the method of attaching an article of the present invention, which includes the steps of:
step S100, acquiring an image acquired by an image acquisition module, and determining a target article in the image, wherein the target article comprises at least one of a fitting article and a fitted article;
in this embodiment, the execution main body is a fitting device of an article. For ease of description, the device is hereinafter referred to as a fit device for an article. The device comprises an image acquisition module and a driving mechanism, wherein the image acquisition module can be a camera, the device can comprise a plurality of image acquisition modules which are respectively used for acquiring the attached articles and the attached articles, and the device can also be only provided with one image acquisition module and simultaneously acquires the images of the attached articles and the attached articles. The attached article and the attached article are connected with corresponding driving mechanisms, and the driving mechanisms can control the attached article or other attached articles to move relative to another article and can also control the plane movement of the attached article and the other attached article to adjust the positions.
When the attached article and the attached article need to be attached, the image acquisition module is started to acquire the position image of the attached article and the position image of the attached article. The image may contain only the article to be attached, or may contain both the article to be attached and the attachment article. If the image only contains the attached article, the attached article can be positioned on one side, namely, the attached article is controlled to adjust the position, and the position of the attached article does not need to be adjusted. If the image contains the attached article and the attached article, the one-sided positioning of the attached article, and the two-sided positioning of the attached article and the attached article can be performed, and the two-sided positioning refers to adjusting the positions of the two.
After the device obtains the image acquired by the image acquisition module, the target object can be determined in the image, the target object comprises at least one of the attached object and the attached object, and the determination of the target object is determined according to the positioning strategy of the device. If the laminating mode set by the device is unilateral positioning, the target object is a laminated object or a laminated object; if the gluing mode set by the device is bilateral positioning, the target is a glued article and a glued article. In addition, when unilateral positioning is carried out, if the collected image only contains the attached article, the attached article is taken as a target article; if the image only contains the attached article, taking the attached article as a target article; if the image contains both, either one is selected as the target object.
Step S200, determining a reference position of the target object, and determining the offset of the target object according to the reference position;
the target object is provided with a corresponding reference position, the reference position can be a plurality of reference points, and each reference point forms a plane; alternatively, the reference position is a reference image. The reference position can be set in advance, and the plane corresponding to the reference position is the same as or parallel to the plane of the binding surface of the target article. The device moves the attaching surface of the target article with reference to the reference position, and when the attaching surface is matched with the reference position, the distance moved by the attaching surface is the offset. The binding surface is actually the surface of the image acquisition device for acquiring the target article.
The reference image may be a figure having a size corresponding to the bonding surface, and when the bonding surface and the reference image overlap, it is determined that the reference position matches the bonding surface.
Step S300, after the position of the target object is adjusted according to the offset, at least one of a bonding object and a bonded object is controlled to move, so that the bonding object and the bonded object are bonded.
After the offset is determined, the driving mechanism controls the target object to be adjusted according to the offset. The height between the attached article and the attached article is fixed, after the position of the target article is adjusted, the driving mechanism controls the attached article to move towards the attached article for attaching, or the driving mechanism controls the attached article to move towards the attached article for attaching, and of course, the driving mechanism can simultaneously control the attached article and the attached article to move for attaching.
In the technical scheme provided by this embodiment, the attaching device of the article acquires the image acquired by the image acquisition module to determine the target article according to the image, the target article includes at least one of the attaching article and the attached article, and then determines the reference position of the target article, so as to determine the offset of the target article according to the reference position, and after adjusting the position of the target article according to the offset, control at least movement of the attaching article and the attached article to complete attachment of the attaching article and the attached article. Because the offset of the attached article is determined by the attaching device of the article, manual determination is not needed, and the accuracy of the offset is ensured, so that the yield of the attached product is high, and the quality of the product is improved.
Referring to fig. 3, fig. 3 is a second embodiment of the method for attaching an article according to the present invention, and based on the first embodiment, the step S200 includes:
step S210, determining a plurality of reference points of a plane where the binding surface of the target article is located, wherein the reference position comprises the plurality of reference points;
step S220, determining correction points corresponding to the reference points on the binding surface;
step S230, determining an offset of the target object according to the reference points and the calibration points corresponding to the reference points.
In this embodiment, the reference position includes a plurality of reference points, and each reference point is located on a plane where the attaching surface of the target article is located. The binding surface comprises correction points corresponding to the reference points, when each reference point is superposed with the correction point corresponding to the reference point, the binding surface is matched with the reference position, and at the moment, the offset can be determined according to the moving distance of the correction point to the reference point.
The reference point may be set to an arbitrary point on the faying surface after the position adjustment. For example, the reference points are set as the center and the a-angle point of the attaching surface after the position adjustment, and if the current center of the attaching surface moves to coincide with the set center reference point and the current a-angle point of the attaching surface moves to coincide with the set reference point of the a-angle point, it can be determined that the reference position matches the attaching surface.
The device can determine whether the attaching surface of the attached article is parallel to the attaching surface of the attached article in real time, if the attaching surfaces are not parallel to each other, more than three reference points are used as references to control the movement of the target article, and the more than three reference points form a plane. It can be understood that, at this time, the offset of the target article relates to rotation, longitudinal translation and transverse translation of the spatial angle, that is, the offset includes spatial angle offset, longitudinal offset and transverse offset, and the attaching surfaces of the two are not parallel, so that the planar angle of the attaching surface of the target article needs to be adjusted according to the spatial angle offset, so that the attaching surfaces of the two are parallel.
In the technical solution provided in this embodiment, the apparatus determines a plurality of reference points on a plane where a faying surface of the target article is located, and determines a correction point corresponding to the reference point on the faying surface, so that an offset can be determined according to the correction point and the reference point.
Referring to fig. 4, fig. 4 is a third embodiment of the method for attaching an article according to the present invention, and based on the second embodiment, the step S230 includes:
step S231, connecting any two reference points to construct a reference line, and connecting correction points corresponding to the reference points of the constructed reference line to obtain a correction line;
step S232, determining an included angle between the correction line and the reference line to obtain an offset angle, and rotating the binding surface according to the offset angle to obtain a rotated correction line;
step S233, determining a longitudinal offset and a transverse offset of the target object according to the coordinates of the end point of the rotated correction line and the coordinates of the end point of the reference line, wherein the offsets include the transverse offset and the longitudinal offset.
In this embodiment, the plane of the attached article is parallel to the plane of the attached article. The device can be connected with any two reference points to obtain a reference line, and then the correction points corresponding to the reference points for constructing the reference line are connected to obtain a correction line. The correction line and the reference line are positioned on the same plane, so that the included angle between the two lines can be calculated. When the image acquisition module acquires an image, a coordinate system is constructed for the image, and the binding surface of the target object is a plane where the coordinate system is located, so that the reference point and the correction point have corresponding coordinates, and therefore, the device can calculate the included angle between the two lines according to the coordinates of the end point of the reference line and the coordinates of the end point of the correction line. The included angle is the offset angle.
After the offset angle is determined, the device rotates the attaching surface by the offset angle, so that the correction line is parallel to or coincided with the datum line, namely the rotated correction line is obtained, and the offset is obtained according to the coordinates of the end point of the rotated correction line and the coordinates of the end point of the datum line. Specifically, assuming that the end points of the reference line are a and B, the end points of the correction line are C and D, a corresponds to C and B corresponds to D, the cheap angle is θ, the distance between the center point of the bonding surface when rotated and the point B is r, and the coordinate of B is (X)b，Yb) D has the coordinate of (X)d，Yd) After correcting the line rotation, B' (X) is obtainedb’，Yb'), at this time,
Xb’＝(Xb-rXb)cosθ-(Yb-rYb)sinθ+r Xb；
Yb’＝(Xb-rXb)sinθ-(Yb-rYb)cosθ+r Yb。
the lateral offset DeltaX is obtained as Xb’-XdThe lateral offset DeltaY is Yb’-Yd。
When the correction line is parallel to or overlaps the reference line, the lateral shift amount Δ X is Xb-XdThe lateral offset DeltaY is Yb-Yd。
It is understood that, in the present embodiment, if the attaching surface of the article to be attached is parallel to the attaching surface of the article to be attached, only two reference points may be provided.
When the device rotates the attaching surface of the target article by an offset angle, the device needs to determine the rotation center of the attaching surface, and the device can determine the center of the attaching surface as the rotation center. For example, the bonding surface is a regular quadrangle, that is, the bonding surface may be a rectangle, a rhombus, or the like, and the intersection point of two diagonal lines of the bonding surface is the center of the bonding surface and is taken as the rotation center.
The binding surface is not necessarily a regular quadrangle, but may be a triangle, a polygon, or even a surface constructed by curves and straight lines. And determining the angular points of all the binding surfaces by the device, and fitting circles to all the angular points to obtain circles. The center of the circle can be used as the center of the binding surface.
In the technical scheme provided by this embodiment, the device connects any two reference points to construct a reference line, and connects the calibration points corresponding to the reference points of the constructed reference line to obtain a calibration line, then determines an included angle between the calibration line and the reference line as an offset angle, and finally controls the binding surface to perform offset rotation to obtain a rotated calibration line, so as to determine an offset according to the coordinates of the rotated calibration line end and the coordinates of the reference line end, and enable the device to accurately calculate the offset of the target article.
Referring to fig. 5, fig. 5 is a fourth embodiment of the method for attaching an article according to the present invention, and based on the second or third embodiment, the step S210 includes:
step S211, determining a plurality of reference points on the attaching surface of the attached article;
step S212, determining the height between the binding surface of the bound article and the binding surface of the target article, wherein the target article is the bound article;
step S213, determining a reference point corresponding to each reference point on the plane where the binding surface of the target article is located according to the height.
In this embodiment, the target article is a conformable article. The article to be bonded is placed on the working surface, and the working surface has a corresponding coordinate system, so that each point on the first bonding surface of the article to be bonded has a corresponding coordinate. The device can randomly determine a plurality of reference points on the first binding surface, then determine the height between the second binding surface of the target article and the first binding surface of the bound article, and the coordinate obtained by adding the height to y in the coordinate corresponding to the reference point is the datum point of the reference point on the second binding surface.
In addition, after the device determines the reference point, the position of the reference point on the first attaching surface needs to be determined, and since the shapes of the first attaching surface and the second attaching surface are fixed, the correction point on the second attaching surface can be determined according to the position of the reference point on the first attaching surface. For example, if the reference point is the center of the first attachment surface, the corresponding correction point is the center of the second attachment surface.
It should be noted that, when the target article is an attached article, the reference point is a point on the second attachment surface, and the correction point is a point on the first attachment surface, which is not described herein again.
In the technical scheme provided by the embodiment, the device determines a plurality of reference points on the first attaching surface of the attached article, determines the height between the first attaching surface and the second attaching surface, and determines the reference point of the reference point on the second attaching surface of the target article according to the height, so that the device accurately determines the reference point.
In an embodiment, when the target article is a bonded article, or the target article includes a bonded article and a bonded article, the apparatus may use a projection of a bonding surface of the bonded article on a plane where the bonding surface of the bonded article is located as a reference position of the target article;
when the target article includes the attached article, or when the target article includes the attached article and the attached article, a projection of the attachment surface on a plane where the attachment surface of the attached article is located is set as a reference position of the target article.
It will be appreciated that the apparatus need only adjust the position of the target article and that conformable or conformable articles not identified as target articles need not be moved.
In one embodiment, the article to be conformed is generally placed on a work surface. For this, the device determines the position of the article to be attached on the working surface to match the position with the article to be attached, and the position can be the corner point of the article to be attached; the device takes the projection of the reference position of the attached article on the plane where the second attaching surface of the attached article is located as the reference position of the attached article. In this embodiment, the apparatus does not need to adjust the position of the article to be attached, but only needs to adjust the position of the article to be attached.
The invention also provides a device for attaching an article, which comprises an image acquisition module, a driving mechanism, a memory, a processor and an article attaching program which is stored in the memory and can run on the processor, wherein the driving mechanism and the image acquisition module are respectively connected with the processor, and the attaching program of the article is executed by the processor to realize the steps of the article attaching method in the embodiment.
The present invention also provides a computer-readable storage medium storing a fitting program of an article, which when executed by a processor implements the steps of the fitting method of an article according to the above embodiment.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A method for attaching an article, comprising the steps of:
the method comprises the steps of obtaining an image collected by an image collecting module, determining a target article in the image, constructing a coordinate system for the image when the image collecting module collects the image, wherein a binding surface of the target article is a plane where the coordinate system is located, the target article comprises at least one of a binding article and a bound article, when the binding mode of the article is unilateral positioning, the target article is the binding article or the bound article, when the binding mode of the article is bilateral positioning, the target article is the binding article and the bound article;
determining a reference position of the target object, and determining the offset of the target object according to the reference position;
after the position of the target article is adjusted according to the offset, controlling at least one of a gluing article and a glued article to move so as to glue the gluing article and the glued article;
the step of determining the reference position of the target object and determining the offset of the target object according to the reference position comprises:
determining a plurality of reference points of a plane where a binding surface of the target article is located, wherein the reference position comprises the plurality of reference points, and the reference points comprise angular points of the binding surface after the position is adjusted;
determining a correction point corresponding to each reference point on the binding surface;
determining the offset of the target object according to the reference points and the correction points corresponding to the reference points;
the step of determining the offset of the target object according to the reference points and the correction points corresponding to the reference points comprises the following steps:
connecting any two reference points to construct a reference line, and connecting correction points corresponding to the reference points of the constructed reference line to obtain a correction line;
determining an included angle between the correction line and the reference line to obtain an offset angle, and rotating the binding surface according to the offset angle to obtain a rotated correction line;
determining the longitudinal offset and the transverse offset of the target object according to the coordinates of the end point of the rotated correction line and the coordinates of the end point of the reference line, wherein the offsets comprise the transverse offset and the longitudinal offset;
the step of rotating the binding surface according to the offset angle to obtain a rotated correction line comprises:
determining the center of the binding surface;
and rotating the binding surface by the offset angle by taking the center as a rotation center to enable the correction line to be overlapped or parallel with the reference line so as to obtain a rotated correction line.
2. The method of conforming an article according to claim 1 wherein the step of centering the conforming surface comprises:
determining each angular point of the binding surface;
and performing circle fitting on each angular point, and taking the center of a circle obtained by fitting as the center of the binding surface.
3. The method of conforming an article of claim 1 wherein the step of determining a plurality of reference points in the plane of the conforming surface of the target article comprises:
determining a plurality of reference points on the attaching surface of the attached article;
determining the height between the attaching surface of the attached article and the attaching surface of the target article, wherein the target article is the attached article;
and determining the reference point corresponding to each reference point on the plane where the binding surface of the target article is located according to the height.
4. The method of conforming an article according to claim 1 wherein the step of determining the reference location of the target article comprises:
taking a projection of a binding surface of the bound article on a plane where the binding surface of the bound article is located as a reference position of the target article, wherein the target article is the bound article, or the target article comprises the bound article and the bound article;
or taking a projection of the attaching surface of the attached article on a plane where the attaching surface of the attached article is located as a reference position of the target article, wherein the target article comprises the attached article, or the target article comprises the attached article and the attached article.
5. The method of conforming an article according to claim 1 wherein the step of determining the reference location of the target article comprises:
determining the position of the attached article on the working surface;
and taking the position as a reference position of the attached article, and taking a projection of the reference position of the attached article on a plane where a bonding surface of the attached article is located as the reference position of the attached article.
6. An article attaching device, characterized in that the article attaching device comprises an image acquisition module, a driving mechanism, a memory, a processor and an article attaching program stored in the memory and operable on the processor, wherein the driving mechanism and the image acquisition module are respectively connected with the processor, and the article attaching program realizes the steps of the article attaching method according to any one of claims 1 to 5 when executed by the processor.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a fit program of an article, which when executed by a processor implements the steps of the fit method of an article according to any one of claims 1 to 5.
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| CN113305832B (en) * | 2021-04-30 | 2022-10-04 | 深圳市世宗自动化设备有限公司 | Inclined plane dispensing and gluing method and device, computer equipment and storage medium thereof |
| CN115200480B (en) * | 2022-09-17 | 2022-12-23 | 深圳市巨力方视觉技术有限公司 | Alignment and lamination visual detection system |
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| US6428641B1 (en) * | 1998-08-31 | 2002-08-06 | Amkor Technology, Inc. | Method for laminating circuit pattern tape on semiconductor wafer |
| CN102369098B (en) * | 2010-06-10 | 2014-05-07 | 日东电工株式会社 | Method for position adjustment of film sheet and rectangular panel in display panel production device |
| CN102152595B (en) * | 2010-12-10 | 2013-02-13 | 苏州凯蒂亚半导体制造设备有限公司 | Method for lamination alignment in manufacturing process of touch screen or flat-panel display |
| TW201514584A (en) * | 2013-10-01 | 2015-04-16 | Efun Technology Co Ltd | Image registration lamination method |
| CN103895309B (en) * | 2014-04-10 | 2015-09-16 | 深圳市研创精密设备有限公司 | A kind of automatic positoning make-up machine |
| WO2015167276A1 (en) * | 2014-05-02 | 2015-11-05 | 이건하 | Apparatus for adhering film |
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| CN109555766B (en) * | 2018-10-30 | 2021-04-30 | 信利半导体有限公司 | Full-lamination manufacturing method of display module |
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| CN109739006B (en) * | 2019-01-31 | 2024-02-02 | 武汉锐科光纤激光技术股份有限公司 | Lens attaching system and method |
| CN109849323A (en) * | 2019-03-25 | 2019-06-07 | 深圳市八零联合装备有限公司 | Chip mounter |
| CN110587992B (en) * | 2019-09-05 | 2022-01-25 | 深圳市巨力方视觉技术有限公司 | Article attaching method, device and computer-readable storage medium |
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