CN110466158B - Article attaching method and device based on mark points and computer readable storage medium - Google Patents
Article attaching method and device based on mark points and computer readable storage medium Download PDFInfo
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- CN110466158B CN110466158B CN201910841098.6A CN201910841098A CN110466158B CN 110466158 B CN110466158 B CN 110466158B CN 201910841098 A CN201910841098 A CN 201910841098A CN 110466158 B CN110466158 B CN 110466158B
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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
Abstract
The invention discloses an article attaching method based on mark points, which comprises the following steps: acquiring an image of a jointed article acquired by an image acquisition module, and determining a plurality of mark points of the jointed article according to the image; determining the offset of the attached article according to each mark point; and after the position of the attached article is adjusted according to the offset, controlling the attached article to move so as to attach the attached article and the attached article. 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 an article fitting method and device based on mark points 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 an article attaching method and device based on mark points and a computer readable storage medium, and aims to solve the problem of poor quality of attached products.
In order to achieve the above object, the present invention provides an article attaching method based on mark points, which includes the following steps:
acquiring an image of a jointed article acquired by an image acquisition module, and determining a plurality of mark points of the jointed article according to the image;
determining the offset of the attached article according to each mark point;
and after the position of the attached article is adjusted according to the offset, controlling the attached article to move so as to attach the attached article and the attached article.
In an embodiment, the step of determining the offset of the attached article according to each mark point comprises:
connecting any two mark points to obtain a reference line, and determining a reference line corresponding to the reference line on the working plane where the attached article is located;
and determining the offset of the attached article according to the reference line and the reference line.
In an embodiment, the step of determining the offset of the attached article according to the reference line and the reference line includes:
determining an included angle between the reference line and the datum line as an offset angle;
rotating the reference line by the offset angle to obtain a rotated reference line, wherein the rotated reference line is parallel to or at least partially overlapped with the reference line;
and determining the transverse offset and the longitudinal offset of the attached article according to the end point of the rotated reference line and the end point of the reference line, wherein the offset comprises an offset angle, a transverse offset and a longitudinal offset.
In an embodiment, the step of rotating the reference line by the offset angle to obtain a rotated reference line includes:
determining a midpoint of the reference line;
and rotating the reference line by the offset angle by taking the midpoint as a rotation center to obtain a rotated reference line.
In an embodiment, the step of connecting any two mark points to obtain a reference line includes:
determining two mark points to be connected to serve as target mark points, and determining the central point of each target mark point, wherein the mark points are identification positions formed by circles;
and connecting the central points of the two target mark points to obtain a reference line.
In one embodiment, the step of controlling the movement of the attached article to attach the attached article to the attached article includes:
determining each fitting position of the fitted article;
acquiring the moving distance between the attached article and each attaching position;
and sequentially fitting each fitting article to the corresponding fitting position according to the moving distance.
In order to achieve the above object, the present invention further provides an article attaching device, which includes an image collecting module, a memory, a processor, and an article attaching program stored in the memory and executable on the processor, wherein the image collecting module is connected to the processor, and the article attaching program, when executed by the processor, implements the steps of the article attaching method based on mark points as described above.
In order to achieve the above object, the present invention further provides a computer-readable storage medium, which stores an article attaching program, and when the article attaching program is executed by a processor, the computer-readable storage medium implements the steps of the article attaching method based on mark points as described above.
According to the mark point-based article attaching method, device and computer-readable storage medium, the article attaching device acquires the image of the attached article acquired by the image acquisition module, so that the plurality of mark points of the attached article are determined according to the image, the offset of the attached article is determined according to each mark point, and after the position of the attached article is adjusted according to the offset, the attached article is controlled to move, so that the attachment of the attached article and the attached article is completed. Because the laminating device can confirm the offset of the article being laminated according to the mark point, need not artifical the confirming, guaranteed the accuracy of offset to make the product yields that the laminating obtained higher, improved the quality of product.
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 mark point-based article attaching method according to the present invention;
FIG. 3 is a detailed flowchart of step S200 in FIG. 2;
FIG. 4 is a schematic flow chart illustrating a second embodiment of a mark point-based article attaching method according to the present invention;
fig. 5 is a schematic flow chart of a third embodiment of the mark point-based article attaching method according to 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 of a jointed article acquired by an image acquisition module, and determining a plurality of mark points of the jointed article according to the image; determining the offset of the attached article according to each mark point; and after the position of the attached article is adjusted according to the offset, controlling the attached article to move so as to attach the attached article and the attached article.
Because the laminating device can confirm the offset of the article being laminated according to the mark point, need not artifical the confirming, guaranteed the accuracy of offset to make the product yields that the laminating obtained higher, improved the quality of product.
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. The communication bus 103 is used for realizing connection and communication among the components, and the image acquisition module 104 may be a camera. 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 of a jointed article acquired by an image acquisition module, and determining a plurality of mark points of the jointed article according to the image;
determining the offset of the attached article according to each mark point;
and after the position of the attached article is adjusted according to the offset, controlling the attached article to move so as to attach 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:
connecting any two mark points to obtain a reference line, and determining a reference line corresponding to the reference line on the working plane where the attached article is located;
and determining the offset of the attached article according to the reference line and the reference 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 an included angle between the reference line and the datum line as an offset angle;
rotating the reference line by the offset angle to obtain a rotated reference line, wherein the rotated reference line is parallel to or at least partially overlapped with the reference line;
and determining the transverse offset and the longitudinal offset of the attached article according to the end point of the rotated reference line and the end point of the reference line, wherein the offset comprises an offset angle, a transverse offset and a 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 a midpoint of the reference line;
and rotating the reference line by the offset angle by taking the midpoint as a rotation center to obtain a rotated reference 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 two mark points to be connected to serve as target mark points, and determining the central point of each target mark point, wherein the mark points are identification positions formed by circles;
and connecting the central points of the two target mark points to obtain a reference 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 fitting position of the fitted article;
acquiring the moving distance between the attached article and each attaching position;
and sequentially fitting each fitting article to the corresponding fitting position according to the moving distance.
According to the scheme, the article attaching device acquires the image of the attached article acquired by the image acquisition module, determines a plurality of mark points of the attached article according to the image, determines the offset of the attached article according to each mark point, and controls the attached article to move after adjusting the position of the attached article according to the offset, so that the attachment of the attached article and the attached article is completed. Because the laminating device can confirm the offset of the article being laminated according to the mark point, need not artifical the confirming, guaranteed the accuracy of offset to make the product yields that the laminating obtained higher, improved the quality of product.
Based on the hardware framework of the attaching device of the article, the embodiment of the attaching method of the article based on the mark point is provided.
Referring to fig. 2, fig. 2 is a first embodiment of the mark point-based article attaching method of the present invention, which includes the following steps:
step S100, acquiring an image of a jointed article acquired by an image acquisition module, and determining a plurality of mark points of the jointed article according to the image;
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 or a camera, the device can comprise a plurality of image acquisition modules and is used for acquiring images of attached articles, and the device can also be provided with only one image acquisition module. The attached article is connected with the corresponding driving mechanism, and the driving mechanism can control the attached article to move relative to the attached article, so that the attached article and the attached article are attached.
In this embodiment, mark positioning is concerned. mark positioning refers to performing position correction on a bonded article by providing mark points on the bonded article. The mark points can be regarded as position identification points on the attached article, and the mark points are generally arranged in pairs, and the relative distance between the pair of mark points is as far as possible, so that two end points on the diagonal line of the attached article can be set as the pair of mark points.
When the attached article needs to be attached, the attached article is placed on the working platform, the device starts the image acquisition module to acquire the image of the attached article, and therefore a plurality of mark points of the attached article are determined according to the image. The attached article is placed in the fixed area of the working platform, and the position of the mark point on the attached article is generally fixed and unchangeable, so that the device can be provided with the image acquisition module on the fixed area to acquire the mark point at the position corresponding to the attached article.
Step S200, determining the offset of the attached article according to each mark point;
after determining the mark point, the apparatus may determine an offset of the attached article based on the mark point. Specifically, please refer to fig. 3, that is, step S200 includes:
step S210, connecting any two mark points to obtain a reference line, and determining a reference line corresponding to the reference line on the working plane where the attached article is located;
step S220, determining an offset of the attached article according to the reference line and the reference line.
The device can connect any pair of mark points, resulting in a straight line, which is defined as the reference line. Datum lines are arranged on the working plane, and the datum lines corresponding to different pairs of mark points are different. For example, a reference line is corresponding to a pair of mark points constructed by the upper left corner and the lower right corner of the attached article, and a reference line is corresponding to a pair of mark points constructed by the upper right corner and the lower left corner of the attached article.
After the device obtains the reference line, the reference line corresponding to the reference line is determined, the device moves the reference line to be overlapped with the reference line, and the moving distance of the reference line when the reference line moves to be overlapped with the reference line is the offset. It should be noted that, the end points of the reference line corresponding to the end points of the reference line need to be overlapped, for example, the end point a on the reference line is the top left corner mark point of the attached article and the end point B is the bottom right corner mark point of the attached article, the end point C of the reference line is the standard position representing the bottom right corner of the attached article on the working plane, and the end point D of the reference line is the standard position representing the top left corner of the attached article on the working plane, that is, the end point a corresponds to the end point D, and the end point B corresponds to the end point C, so when the reference line and the reference line are overlapped, the end point a and the end point D are overlapped, and the end point B and the end point C are.
And step S300, after the position of the attached article is adjusted according to the offset, controlling the attached article to move so as to attach the attached article and the attached article.
The offset amount may include an offset angle, a lateral offset amount, and a longitudinal offset amount. The offset angle is the rotation angle of the attached article. The attached article is correspondingly provided with the driving mechanism, the device can control the driving mechanism according to the offset, so that the position of the attached article is adjusted, the driving mechanism of the attached article is controlled by the device to move for a preset distance, the attached article is attached to the attached article, and the attachment of the article is completed.
In the technical scheme provided by this embodiment, the attaching device of the article acquires an image of the attached article acquired by the image acquisition module, so as to determine a plurality of mark points of the attached article according to the image, determine an offset of the attached article according to each mark point, and control the attaching article to move after adjusting the position of the attached article according to the offset, so as to complete the attachment of the attached article and the attached article. Because the laminating device can confirm the offset of the article being laminated according to the mark point, need not artifical the confirming, guaranteed the accuracy of offset to make the product yields that the laminating obtained higher, improved the quality of product.
Referring to fig. 4, fig. 4 is a second embodiment of the method for attaching an article based on mark points according to the present invention, where based on the first embodiment, the step S220 includes:
step S221, determining an included angle between the reference line and the reference line as an offset angle;
step S222, rotating the reference line by the offset angle to obtain a rotated reference line, wherein the rotated reference line is parallel to or at least partially overlapped with the reference line;
step S223, determining a lateral offset and a longitudinal offset of the attached article according to the end point of the rotated reference line and the end point of the reference line, where the offsets include an offset angle, a lateral offset, and a longitudinal offset.
In this embodiment, the reference line and the reference line may be located on the same plane, that is, both located on the working plane. The apparatus may establish a coordinate system for the working plane. Therefore, the end point of the reference line and the end point of the reference line have corresponding coordinates. The device can calculate the included angle between the two lines according to the coordinates of the end points of the datum lines and the coordinates of the end points of the reference lines. 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 reference line is parallel to or coincided with the datum line, namely the rotated reference line is obtained, and the offset is obtained according to the coordinate of the end point of the rotated reference line and the coordinate 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 reference 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 rotating and the point B is r, and the coordinate of B is (X)b，Yb) D has the coordinate of (X)d，Yd) After rotation of the reference line, 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 reference line is parallel to or overlaps the reference line, the lateral shift amount Δ X is Xb-XdThe lateral offset DeltaY is Yb-Yd。
When the apparatus rotates the article to be attached by an offset angle, the apparatus can rotate with any point of the article to be attached as a rotation center. However, the rotated attached article may be separated from the working plane, so that the apparatus cannot acquire the coordinates of the attached article, and thus cannot determine the offset of the attached article. Therefore, the device can take the midpoint of the reference line as a rotation center, and the phenomenon that the rotated bonded object is separated from the working plane is avoided.
In the technical scheme provided by this embodiment, the device determines an included angle between the reference line and the reference line as an offset angle, and rotates the reference line by the offset angle to obtain a rotated reference line, so that the transverse offset and the longitudinal offset of the attached article are determined according to the end point of the rotated reference line and the end point of the reference line, and the device can accurately calculate the offset of the attached article.
Referring to fig. 5, fig. 5 is a third embodiment of the method for attaching an article based on mark points according to the present invention, where based on the first embodiment, the step S210 includes:
step S211, determining two mark points to be connected as target mark points, and determining the central point of each target mark point, wherein the mark points are identification positions formed by circles;
step S212, connecting the central points of the two target mark points to obtain a reference line.
In the present embodiment, the mark point is an identification position constituted by a circle. The mark point comprises a characteristic point and an open area, the characteristic point is positioned in the center of the open area, the shape of the open area is running, and the characteristic point and the open area form concentric circles. In order to improve the identification effect of the image acquisition module, the radius of the characteristic points is one third of the radius of the open area.
The device can determine pairs of mark points as target mark points; the device determines the center point of the mark point, wherein the center point is the center point of the feature point, namely the center of the mark point; the device then connects the two centers of the pair of mark points to obtain a reference line.
In the technical scheme provided by the embodiment, the device adopts the center point of the mark point as the end point of the reference line, so that the error between the reference line formed by the center point and the theoretical reference line of the attached article is reduced, and the offset of the attached article can be more accurately calculated by the device.
In one embodiment, the attached article is provided with a plurality of attaching positions, and each attaching position corresponds to one attached article. After the position of the article to be bonded is adjusted, the device calculates the movement distance between the article to be bonded and each bonding position, and stores the movement distance and the bonding position association corresponding to the movement distance. Thereby the device can each migration distance will laminate article and laminate to the laminating position that migration distance corresponds to accomplish the laminating of each laminating position by the article of laminating. For example, the attached article is a PCB, the PCB is provided with a plurality of attachment positions, each attachment position needs to be attached with a corresponding electronic component, and the electronic component is the attached article.
The invention also provides a device for attaching an article, which comprises an image acquisition module, a memory, a processor and an article attaching program which is stored in the memory and can run on the processor, wherein the image acquisition module is connected with the processor, and when being executed by the processor, the article attaching program realizes the steps of the article attaching method based on mark points in the embodiment.
The invention also provides a computer-readable storage medium, which stores an article attaching program, and when the article attaching program is executed by a processor, the computer-readable storage medium implements the steps of the article attaching method based on mark points as described in 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 (4)
1. An article attaching method based on mark points is characterized by comprising the following steps:
acquiring an image of a jointed article collected by an image collecting module, and determining a plurality of mark points of the jointed article according to the image, wherein the mark points comprise characteristic points and an open area, the characteristic points and the open area form concentric circles, and the radius of the characteristic points is one third of that of the open area;
determining an offset of the attached article according to each mark point, including: connecting any two mark points to obtain a reference line, and determining a reference line corresponding to the reference line on a working plane where the attached article is located; determining the offset of the attached article according to the reference line and the reference line;
determining an included angle between the reference line and the datum line as an offset angle; determining a midpoint of the reference line; rotating the reference line by the offset angle by taking the midpoint as a rotation center to obtain a rotated reference line; the rotated reference line is parallel to or at least partially overlapped with the reference line; determining the transverse offset and the longitudinal offset of the attached article according to the end point of the rotated reference line and the end point of the reference line, wherein the offset comprises an offset angle, a transverse offset and a longitudinal offset;
after adjusting the position of the attached article according to the offset, controlling the attached article to move so as to attach the attached article to the attached article, comprising: determining each fitting position of the fitted article; acquiring the moving distance between the attached article and each attaching position; and sequentially fitting each fitting article to the corresponding fitting position according to the moving distance.
2. The mark point-based article attaching method according to claim 1, wherein the step of connecting any two mark points to obtain a reference line comprises:
determining two mark points to be connected to serve as target mark points, and determining the central point of each target mark point, wherein the mark points are identification positions formed by circles;
and connecting the central points of the two target mark points to obtain a reference line.
3. An article attaching device, characterized in that the article attaching device comprises an image acquisition module, a memory, a processor and an article attaching program stored in the memory and operable on the processor, wherein the image acquisition module is connected with the processor, and the article attaching program, when executed by the processor, realizes the steps of the mark point based article attaching method according to claim 1 or 2.
4. A computer-readable storage medium storing an article attaching program, which when executed by a processor implements the steps of the mark point-based article attaching method according to claim 1 or 2.
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| 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 |
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