CN110889832A - Workpiece positioning method, device, electronic equipment and workpiece positioning system - Google Patents

Abstract

The present application relates to the field of equipment parts processing, and specifically, to a workpiece positioning method, device, electronic device and workpiece positioning system. The workpiece includes a first edge, a second edge opposite to the first edge and irregular, and a third edge adjacent to the second edge. The workpiece positioning method includes: determining a first sideline for characterizing the first edge, a second sideline for characterizing the second edge, and a third sideline for characterizing the third edge from the acquired workpiece image, determining a first reference point from the second sideline based on the first sideline, determining a second reference point from the third sideline, and obtaining workpiece position information based on the first reference point and the second reference point. The workpiece positioning method, device, electronic device, and workpiece positioning system provided in the embodiments of the present application can ensure the accuracy of the workpiece position information.

Description

Workpiece positioning method, device, electronic equipment and workpiece positioning system

technical field

The present application relates to the field of equipment parts processing, and in particular, to a workpiece positioning method, device, electronic equipment and workpiece positioning system.

Background technique

In the field of equipment parts processing, it is usually necessary to grasp or attach the workpiece, for example, grasp the first workpiece and attach it to the second workpiece, and in this process, the second workpiece often needs to be positioned in advance. When the edges of the second workpiece are all regular, the positioning accuracy can be guaranteed, but when the edges of the second workpiece are not completely irregular, the positioning accuracy is often not guaranteed. Based on this, how to ensure the positioning accuracy of workpieces whose edges are not completely irregular has become an urgent technical problem to be solved in the field of equipment parts processing.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present application is to provide a workpiece positioning method, device, electronic device and workpiece positioning system to solve the above problems.

In the first aspect, the workpiece positioning method provided by the embodiment of the present application is used to obtain workpiece position information, and the workpiece includes a regular first edge, an irregular second edge opposite to the first edge, and a second edge adjacent to the second edge. , and a regular third edge, the workpiece positioning method, including:

from the acquired image of the workpiece, determining a first edge line for characterizing the first edge, a second edge line for characterizing the second edge, and a third edge line for characterizing the third edge;

According to the first edge line, determine the first reference point from the second edge line;

determining the second reference point from the third sideline;

According to the first reference point and the second reference point, the workpiece position information is obtained.

In the embodiment of the present application, the workpiece includes a first edge, an irregular second edge opposite to the first edge, and a third edge adjacent to the second edge. The workpiece positioning method includes: from an acquired image of the workpiece , determine the first edge line for characterizing the first edge, the second edge line for characterizing the second edge, and the third edge line for characterizing the third edge, according to the first edge line, determine the first edge line from the second edge line A reference point, a second reference point is determined from the third edge line, and workpiece position information is obtained according to the first reference point and the second reference point. Because, the first reference point determined on the second edge line is obtained according to the first edge line, and the first edge line is used to represent the first edge, and the first edge is a regular edge, and at the same time, the second reference point is from the The third edge line is determined, and the third edge line is used to represent the third edge, and the third edge is a regular edge. Therefore, according to the first reference point and the second reference point, the obtained workpiece position information has accuracy.

In conjunction with the first aspect, the embodiment of the present application also provides a first optional implementation manner of the first aspect, according to the first edge line, determining the first reference point from the second edge line, including:

Obtain multiple edge points included on the second edge, and the distance between each edge point and the first edge;

From the plurality of edge points, the edge point with the shortest distance from the first edge is obtained as the first reference point.

In this embodiment of the present application, determining the first reference point from the second edge line according to the first edge line includes: acquiring a plurality of edge points included on the second edge line, and the distance between each edge point and the first edge line , and from a plurality of edge points, the edge point with the shortest distance from the first edge is obtained, which is directly used as the first reference point. Therefore, the execution efficiency of the workpiece positioning method can be improved.

In conjunction with the first aspect, the embodiments of the present application also provide a second optional implementation manner of the first aspect, where determining the second reference point from the third edge line includes:

Get the middle point of the third edge as the second reference point.

In the embodiment of the present application, determining the second reference point from the third edge line includes: acquiring the middle point of the third edge line, which is directly used as the second reference point. Therefore, the execution efficiency of the workpiece positioning method can be further improved.

In conjunction with the first aspect, the embodiment of the present application also provides a third optional implementation manner of the first aspect, obtaining workpiece position information according to the first reference point and the second reference point, including:

Create a first reference line that passes through the first reference point and is parallel to the first edge;

creating a second reference line that passes through the second reference point and is perpendicular to the first reference line;

According to the first reference line and the second reference line, the workpiece position information is obtained.

In this embodiment of the present application, obtaining the workpiece position information according to the first reference point and the second reference point includes: creating a first reference line that passes through the first reference point and is parallel to the first edge line, and creating a first reference line that passes through the second reference point , and the second reference line perpendicular to the first reference line, and the workpiece position information is obtained according to the first reference line and the second reference line. The processing logic of this process is simple, so the execution efficiency of the workpiece positioning method can be further improved .

In conjunction with the third optional implementation manner of the first aspect, the embodiment of the present application also provides the fourth optional implementation manner of the first aspect, obtaining workpiece position information according to the first reference line and the second reference line, include:

The position information of the intersection of the first reference line and the second reference line and the angle information of the second reference line are acquired, which are collectively used as the workpiece position information.

In the embodiment of the present application, obtaining the workpiece position information according to the first reference line and the second reference line includes: obtaining the intersection position information of the first reference line and the second reference line, and the angle information of the second reference line, which are used together as The workpiece position information, thereby further improving the accuracy of the workpiece position information.

In conjunction with the first aspect, the embodiment of the present application also provides a fifth optional implementation manner of the first aspect. After obtaining the workpiece position information according to the first reference point and the second reference point, the workpiece positioning method further includes:

According to the workpiece position information, determine whether the position of the workpiece meets the preset position standard;

When the position of the workpiece does not meet the preset position standard, a position adjustment instruction is generated according to the workpiece position information and the preset position standard.

In the embodiment of the present application, after obtaining the workpiece position information according to the first reference point and the second reference point, the workpiece positioning method further includes: according to the workpiece position information, judging whether the position of the workpiece satisfies the preset position standard, and according to the workpiece position information to determine whether the position of the workpiece meets the preset position standard, thereby improving the comprehensiveness of the function of the workpiece positioning method.

In the second aspect, the workpiece positioning device provided by the embodiment of the present application is used to obtain the position information of the workpiece, and the workpiece includes a regular first edge, an irregular second edge opposite to the first edge, and an irregular second edge, and adjacent to the second edge. , and a regular third edge, a workpiece positioning device, including:

a first acquisition module, configured to determine, from the acquired workpiece image, a first edge for characterizing the first edge, a second edge for characterizing the second edge, and a third edge for characterizing the third edge;

a second acquiring module, configured to determine the first reference point from the second edge line according to the first edge line;

The third acquisition module is used to determine the second reference point from the third sideline;

The positioning module is used for obtaining workpiece position information according to the first reference point and the second reference point.

The workpiece positioning device provided by the embodiment of the present application has the same beneficial effects as the above-mentioned workpiece positioning device method, which will not be repeated here.

In a third aspect, the electronic device provided in the embodiments of the present application includes a processor and a memory, where a computer program is stored in the memory, and the processor is configured to execute the computer program, so as to implement the above-mentioned first aspect, or any one of the first aspect can be implemented. The workpiece positioning method provided by the selected embodiment.

The electronic device provided by the embodiment of the present application has the same beneficial effects as the above-mentioned workpiece positioning method, which will not be repeated here.

In a fourth aspect, the workpiece positioning system provided by the embodiment of the present application includes a camera device, and the electronic device provided in the third aspect above, where the camera device is connected to the electronic device;

The camera device is used to obtain the workpiece image and send it to the electronic device;

The electronic device is configured to receive the workpiece image, and implement the above-mentioned first aspect, or the workpiece positioning method provided by any optional implementation manner of the first aspect.

The workpiece positioning system provided by the embodiment of the present application has the same beneficial effects as the above-mentioned electronic device, which will not be repeated here.

In a fifth aspect, embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the first aspect or any one of the first aspect can be implemented. A workpiece positioning method provided by an optional embodiment.

The computer-readable storage medium provided by the embodiment of the present application has the same beneficial effects as the above-mentioned workpiece positioning method, which will not be repeated here.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, therefore It should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural block diagram of an electronic device according to an embodiment of the present application.

FIG. 2 is a flowchart of steps of a workpiece positioning method provided by an embodiment of the present application.

FIG. 3 is an auxiliary explanatory diagram of the workpiece positioning method provided by the embodiment of the application.

FIG. 4 is another auxiliary explanatory diagram of the workpiece positioning method provided by the embodiment of the present application.

FIG. 5 is a schematic structural block diagram of a workpiece positioning device provided in an embodiment of the present application.

FIG. 6 is a schematic structural block diagram of a workpiece positioning system provided by an embodiment of the present application.

Reference numerals: 10-workpiece positioning system; 100-electronic equipment; 110-processor; 120-memory; 200-workpiece positioning device; 210-first acquisition module; 220-second acquisition module; 230-third acquisition module ; 240 - positioning module; 300 - camera equipment.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

Please refer to FIG. 1 , which is a schematic structural block diagram of an electronic device 100 using a workpiece positioning method and apparatus according to an embodiment of the present application. In this embodiment of the present application, the electronic device 100 may be, but is not limited to, an industrial device with data processing capabilities such as a computer and an industrial computer. Structurally, the electronic device 100 may include a processor 110 and a memory 120 .

The processor 110 and the memory 120 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. The workpiece positioning apparatus 200 includes at least one software module that can be stored in the memory 120 in the form of software or firmware (Firmware) or solidified in an operating system (Operating System, OS) of the electronic device 100 . The processor 110 is configured to execute executable modules stored in the memory 120, such as software function modules and computer programs included in the workpiece positioning apparatus 200, to implement the workpiece positioning method. The processor 110 may execute the computer program after receiving the execution instruction.

The processor 110 may be an integrated circuit chip with signal processing capability. The processor 110 may also be a general-purpose processor, for example, may be a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a discrete gate or transistor logic device, a discrete hardware component, or The methods, steps, and logic block diagrams disclosed in the embodiments of the present application are implemented or executed. Furthermore, a general purpose processor may be a microprocessor or any conventional processor or the like.

The memory 120 can be, but is not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM), erasable and programmable Program read-only memory (Erasable Programmable Read-Only Memory, EPROM), and Electric Erasable Programmable Read-Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM). The memory 120 is used for storing a program, and the processor 110 executes the program after receiving the execution instruction.

It should be understood that the structure shown in FIG. 1 is for illustration only, and the electronic device 100 provided in this embodiment of the present application may further have fewer or more components than those shown in FIG. 1 , or have different configurations than those shown in FIG. 1 . In addition, each component shown in FIG. 1 may be implemented by software, hardware, or a combination thereof.

Please refer to FIG. 2 , which is a schematic flowchart of a workpiece positioning method provided by an embodiment of the present application, and the method is applied to the electronic device 100 shown in FIG. 1 . It should be noted that the workpiece positioning method provided by the embodiments of the present application is not limited to the sequence shown in FIG. 2 and the following, and the specific flow and steps of the workpiece positioning method are described below with reference to FIG. 2 .

Step S100, from the acquired image of the workpiece, determine a first edge line representing the first edge, a second edge line representing the second edge, and a third edge line representing the third edge.

In the embodiments of the present application, the workpiece may be, but is not limited to, a battery pole piece, a semiconductor patch, a resistance patch, and an optical display member. In addition, structurally, the workpiece can be in the form of a rectangular (square or rectangular) sheet-like structure, and the workpiece includes at least two regular edge lines. For example, the workpiece includes a first edge that is regular, a second edge that is opposite to the first edge and that is irregular, and a third edge that is adjacent to the second edge and that is regular. It should be noted that, in the embodiments of the present application, for an edge, if it is irregular, it can be understood that there is a burr on the edge, or there is a bulge on the edge, or the edge is blocked by foreign objects, etc. Therefore, it is used to characterize the edge. The edges of the edges are not smooth straight lines.

In the embodiment of the present application, after the workpiece image used to characterize the appearance of the workpiece is acquired, the first edge line can be determined by using a line finding tool. The realization principle of the line finding tool is that after the workpiece image is obtained, the region of interest (ROI) is obtained from the first edge of the workpiece image, and the target number of edge points are obtained from the ROI, and then the target Fit a number of edge points to obtain the first edge.

Among them, ROI refers to the to-be-processed area outlined by frame, circle, ellipse, irregular polygon and other shape frames from the processed image in the process of machine vision and image processing. In actual implementation, various operators and functions commonly used in machine vision software such as Halcon, OpenCV, and Matlab can be used to obtain regions of interest. In addition, in the embodiment of the present application, the target number may be, but is not limited to, 3, 5, or 10. After the target number of edge points is obtained, the target number of edge points is fitted by the least squares method to obtain the first number of edge points. side line.

It can be understood that, in the embodiment of the present application, the determination of the second edge from the workpiece image and the determination of the third edge from the workpiece image can also be implemented by a line-finding tool. Therefore, the embodiment of the present application will not repeat them. .

In addition, it can also be understood that, in the embodiment of the present application, since the first edge and the third edge are regular edge lines, and the second edge is an irregular edge line, the determined first edge line and third edge line are accurate However, the accuracy of the determined second edge is difficult to guarantee. Therefore, the workpiece position information cannot be directly obtained through the second edge. Therefore, for the workpiece that needs to be positioned by the second edge, the positioning accuracy cannot be guaranteed in the prior art.

Step S200, determining a first reference point from the second edge line according to the first edge line.

In the embodiment of the present application, the first reference point may be a certain edge point obtained from the target number of edge points included in the ROI during the process of determining the second edge line from the workpiece image using the line finding tool, for example, Among the target number of edge points, the edge point with the shortest distance from the first edge. Based on this, in this embodiment of the present application, step S200 may include step S210 and step S220.

Step S210, acquiring a plurality of edge points included on the second edge line, and the distance between each edge point and the first edge line.

In the embodiment of the present application, the camera device for acquiring the workpiece image and the camera coordinate system corresponding to the camera device can be determined, and then the pixel coordinate system or the physical coordinate system of the workpiece image can be obtained according to the camera coordinates as the reference coordinate system. Finally, based on the reference Coordinate system, get the distance between each edge point and the first edge. Hereinafter, step S210 will be further described by taking the physical coordinate system of the workpiece image obtained according to the camera coordinates as the reference coordinate system, and the reference coordinate system is denoted as XOY as an example.

Please refer to FIG. 3 , for the convenience of description, in the embodiment of the present application, the first edge line is denoted as a, and the second edge line is denoted as b. Exemplarily, the ROI obtained from the second edge portion of the workpiece image includes the edge point b1, the edge point b2 and the edge point b3, in the process of obtaining the distance between the edge point b1 and the first edge a, you can Determine the sideline point on the first sideline a with the same Y-axis coordinate value of the sideline point b1 as the target sideline point a1, and then obtain the X-axis coordinate difference between the sideline point b1 and the target sideline point a1, as the sideline point b1 and In the same way, the distance between the first sideline a and the X-axis coordinate difference between the sideline point b2 and the target sideline point a2 can be obtained as the distance between the sideline point b2 and the first sideline a, and the sideline point b3 and the target can be obtained. The X-axis coordinate difference of the edge point a3 is used as the distance between the edge point b3 and the first edge a.

Step S220, from the plurality of sideline points, acquire the sideline point with the shortest distance from the first sideline as the first reference point.

Step S300, determining a second reference point from the third edge line.

In this embodiment of the present application, the second reference point may be a middle point of the third edge line. Based on this, for step S300, it may include step S310, obtaining the middle point of the third edge line as the second reference point.

In step S400, the workpiece position information is obtained according to the first reference point and the second reference point.

Because, the first reference point determined on the second edge line is obtained according to the first edge line, and the first edge line is used to represent the first edge, and the first edge is a regular edge, and at the same time, the second reference point is from the The third edge line is determined, and the third edge line is used to represent the third edge, and the third edge is a regular edge. Therefore, according to the first reference point and the second reference point, the obtained workpiece position information has accuracy.

Further, in this embodiment of the present application, step S400 may include step S410, step S420 and step S430.

Step S410, creating a first reference line that passes through the first reference point and is parallel to the first edge line.

Step S420, creating a second reference line passing through the second reference point and perpendicular to the first reference line.

Step S430, obtaining workpiece position information according to the first reference line and the second reference line.

Similarly, referring to FIG. 3 , for the convenience of description, in this embodiment of the present application, the third edge line may be denoted as c, and the second reference point may be denoted as c1. Assuming that the first reference point is b1, the first reference point is created through the first reference point. Point b1, and the first reference line parallel to the first side line a is denoted as d, and at the same time, a second reference line passing through the second reference point c1 and perpendicular to the first reference line d is created, denoted as e. After that, according to the first reference line d and the second reference line e, the workpiece position information is obtained to realize workpiece positioning.

Further, as an optional implementation manner, in this embodiment of the present application, for step S430, it may include step S431, obtaining the position information of the intersection of the first reference line and the second reference line, and the angle of the second reference line information, together as workpiece position information. It should be noted that, in this embodiment of the present application, the position information of the intersection of the first reference line and the second reference line may be the coordinate value of the intersection of the first reference line and the second reference line, and the angle information of the second reference line may be Yes, the value of the angle between the second reference line and the X axis. Similarly, referring to FIG. 3, the position information of the intersection of the first reference line d and the second reference line e can be the coordinate value of the intersection point de1, and the angle information of the second reference line e can be, the second reference line e and the X-axis the angle value between them.

In order to improve the comprehensiveness of the functions of the workpiece positioning method, the workpiece positioning method provided by the embodiment of the present application may further include steps S500 and S600.

Step S500, according to the workpiece position information, determine whether the position of the workpiece satisfies a preset position standard.

With reference to the relevant description of the foregoing step S400, in this embodiment of the present application, the preset position standard may be that the position coordinate value of the intersection of the first reference line and the second reference line is the target coordinate value, and the distance between the second reference line and the X-axis is the target coordinate value. The angle value is the target angle value, and the target coordinate value and the target angle value can be set according to actual requirements, which are not specifically limited in the embodiment of the present application.

Step S600, when the position of the workpiece does not meet the preset position standard, generate a position adjustment instruction according to the workpiece position information and the preset position standard.

In the embodiment of the present application, the position adjustment instruction includes a coordinate adjustment instruction and an angle adjustment instruction. The coordinate adjustment instruction can be generated according to the coordinate value of the intersection point of the first reference line and the second reference line and the target coordinate value, and the angle adjustment instruction can be generated according to the angle value between the second reference line and the X axis, and the target angle value generate.

For convenience of description, in this embodiment of the present application, the intersection of the first reference line and the second reference line may be denoted as de1(x1, y1), and the target coordinate value may be denoted as de2(x2, y2), and thereafter, according to The X coordinate difference between the intersection de1 and the intersection de2, that is, the difference between x1 and x2, and the Y coordinate difference between the intersection de1 and de2, that is, the difference between y1 and y2, generate a coordinate adjustment command. Referring to FIG. 4 , coordinate adjustment commands representing moving the workpiece in the X-axis direction (x2-x1) and moving the workpiece in the Y-axis direction (y2-y1) can be generated. In addition, it is assumed that when the angle value between the target angle value and the X axis is 0, if the angle value between the second reference line and the X axis is 1°, a generated value for representing the workpiece with the first reference line and the X axis is generated. The intersection point of the second reference line is the rotation point, and the angle adjustment command is to rotate 1° clockwise.

Based on the same inventive concept as the above-mentioned workpiece positioning method, the workpiece positioning device 200 provided in the embodiment of the present application is provided. Referring to FIG. 5 , the workpiece positioning device 200 provided by the embodiment of the present application includes a first obtaining module 210 , a second obtaining module 220 , a third obtaining module 230 , and a positioning module 240 .

The first acquisition module 210 is configured to determine, from the acquired image of the workpiece, a first edge line for representing the first edge, a second edge line for representing the second edge, and a third edge line for representing the third edge .

For the description of the first obtaining module 210 , reference may be made to the detailed description of step S100 shown in FIG. 2 , that is, step S100 may be executed by the first obtaining module 210 .

The second obtaining module 220 is configured to determine the first reference point from the second edge line according to the first edge line.

For the description of the second acquisition module 220 , reference may be made to the detailed description of step S200 shown in FIG. 2 , that is, step S200 may be executed by the second acquisition module 220 .

The third obtaining module 230 is configured to determine the second reference point from the third edge line.

For the description of the third obtaining module 230 , reference may be made to the detailed description of step S300 shown in FIG. 2 , that is, step S300 may be executed by the third obtaining module 230 .

The positioning module 240 is configured to obtain workpiece position information according to the first reference point and the second reference point.

For the description of the positioning module 240 , reference may be made to the detailed description of the step S400 shown in FIG. 2 , that is, the step S400 may be performed by the positioning module 240 .

In this embodiment of the present application, the second obtaining module 220 may include a first obtaining unit and a second obtaining unit.

a first acquiring unit, configured to acquire a plurality of sideline points included on the second sideline, and the distance between each sideline point and the first sideline;

For the description of the first acquisition unit, reference may be made to the detailed description of step S210 in the above-mentioned embodiments of the workpiece positioning method, that is, step S210 may be performed by the first acquisition unit.

The second obtaining unit is configured to obtain, from among the plurality of edge points, the edge point with the shortest distance from the first edge, as the first reference point.

For the description of the second acquisition unit, reference may be made to the detailed description of step S220 in the above-mentioned embodiments of the workpiece positioning method, that is, step S220 may be performed by the second acquisition unit.

In this embodiment of the present application, the third obtaining module 230 may include a third obtaining unit.

The third obtaining unit is used for obtaining the middle point of the third sideline as the second reference point.

For the description of the third acquisition unit, reference may be made to the detailed description of step S310 in the above-mentioned embodiments of the workpiece positioning method, that is, step S310 may be performed by the third acquisition unit.

In this embodiment of the present application, the positioning module 240 may include a first creation unit, a second creation unit, and a positioning unit.

The first creation unit is used for creating a first reference line passing through the first reference point and parallel to the first edge line.

For the description of the first creation unit, reference may be made to the detailed description of step S410 in the above-mentioned embodiments of the workpiece positioning method, that is, step S410 may be performed by the first creation unit.

The second creation unit is used for creating a second reference line passing through the second reference point and perpendicular to the first reference line.

For the description of the second creation unit, reference may be made to the detailed description of step S420 in the above-mentioned embodiments of the workpiece positioning method, that is, step S420 may be performed by the second creation unit.

The positioning unit is used for obtaining workpiece position information according to the first reference line and the second reference line.

For the description of the positioning unit, reference may be made to the detailed description of step S430 in the above-mentioned embodiments of the workpiece positioning method, that is, step S430 may be performed by the positioning unit.

In this embodiment of the present application, the positioning unit may include a positioning sub-unit.

The positioning subunit is used for acquiring the position information of the intersection of the first reference line and the second reference line, and the angle information of the second reference line, which are used together as workpiece position information.

For the description of the positioning subunit, reference may be made to the detailed description of step S431 in the above-mentioned embodiments of the workpiece positioning method, that is, step S431 may be performed by the positioning subunit.

In this embodiment of the present application, the workpiece positioning device 200 may further include a judgment module and an instruction generation module.

The judgment module is used for judging whether the position of the workpiece satisfies the preset position standard according to the position information of the workpiece.

For the description of the judging module, reference may be made to the detailed description of step S500 in the above-mentioned embodiments of the workpiece positioning method, that is, step S500 may be executed by the judging module.

The instruction generation module is used to generate a position adjustment instruction according to the workpiece position information and the preset position standard when the position of the workpiece does not meet the preset position standard.

For the description of the instruction generation module, reference may be made to the detailed description of step S600 in the above-mentioned embodiments of the workpiece positioning method, that is, step S600 may be executed by the instruction generation module.

Referring to FIG. 6 , an embodiment of the present application further provides a workpiece positioning system 10 . The workpiece positioning system 10 includes a camera device 300 and an electronic device 100 , and the camera device 300 is connected to the electronic device 100 .

The imaging device 300 is used to acquire the workpiece image and send it to the electronic device 100 .

The electronic device 100 is configured to receive the workpiece image and implement the above-mentioned workpiece positioning method.

In addition, the embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium. When the computer program is executed, the workpiece positioning method provided in the above method embodiments can be implemented. For details, please refer to The foregoing method embodiments are not repeated here.

To sum up, in the embodiment of the present application, the workpiece includes a first edge, an irregular second edge opposite to the first edge, and a third edge adjacent to the second edge. The workpiece positioning method, device, electronic The device and the workpiece positioning system can determine, from the acquired image of the workpiece, a first edge line for characterizing the first edge, a second edge line for characterizing the second edge, and a third edge line for characterizing the third edge, according to For the first edge line, the first reference point is determined from the second edge line, the second reference point is determined from the third edge line, and then the workpiece position information is obtained according to the first reference point and the second reference point. Because, the first reference point determined on the second edge line is obtained according to the first edge line, and the first edge line is used to represent the first edge, and the first edge is a regular edge, and at the same time, the second reference point is from the The third edge line is determined, and the third edge line is used to represent the third edge, and the third edge is a regular edge. Therefore, according to the first reference point and the second reference point, the obtained workpiece position information has accuracy.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may also be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architectures, functions and possible implementations of apparatuses, methods and computer program products according to various embodiments of the present application. operate. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

In addition, each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, removable hard disk, RAM, ROM, magnetic disk or optical disk and other media that can store program codes.

The above descriptions are merely examples of the present application, and are not intended to limit the protection scope of the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Furthermore, it should be noted that in this document, relational terms such as "first", "second" and "third" are only used to distinguish one entity or operation from another, and does not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus.

Claims (10)

1. a workpiece positioning method, is characterized in that, described workpiece comprises regular first edge, opposite to described first edge, and irregular second edge, and adjacent to described second edge, and regular The third edge, the workpiece positioning method, comprising: From the acquired image of the workpiece, determining a first edge line representing the first edge, a second edge line representing the second edge, and a third edge line representing the third edge; determining a first reference point from the second edge line according to the first edge line; determining a second reference point from said third edge line; According to the first reference point and the second reference point, workpiece position information is obtained. 2. The workpiece positioning method according to claim 1, wherein determining the first reference point from the second edge line according to the first edge line, comprising: acquiring a plurality of edge points included on the second edge line, and the distance between each edge point and the first edge line; From the plurality of edge points, the edge point with the shortest distance from the first edge is acquired as the first reference point. 3. The workpiece positioning method according to claim 1, wherein determining the second reference point from the third edge line comprises: Obtain the middle point of the third edge line as the second reference point. 4. The workpiece positioning method according to claim 1, wherein the obtaining workpiece position information according to the first reference point and the second reference point comprises: creating a first reference line that passes through the first reference point and is parallel to the first edge; creating a second reference line passing through the second reference point and perpendicular to the first reference line; According to the first reference line and the second reference line, workpiece position information is obtained. 5. The workpiece positioning method according to claim 4, wherein the obtaining workpiece position information according to the first reference line and the second reference line comprises: The position information of the intersection of the first reference line and the second reference line and the angle information of the second reference line are acquired, which are collectively used as workpiece position information. 6. The workpiece positioning method according to claim 1, wherein after the workpiece position information is obtained according to the first reference point and the second reference point, the workpiece positioning method further comprises: According to the workpiece position information, determine whether the position of the workpiece satisfies a preset position standard; When the position of the workpiece does not meet the preset position standard, a position adjustment instruction is generated according to the workpiece position information and the preset position standard. 7. A workpiece positioning device is characterized in that, the workpiece comprises a regular first edge, opposite to the first edge, and an irregular second edge, and adjacent to the second edge, and regular of the third edge, the workpiece positioning device, comprising: a first acquisition module, configured to determine, from the acquired workpiece image, a first edge for characterizing the first edge, a second edge for characterizing the second edge, and a third edge for characterizing the third edge; a second acquiring module, configured to determine a first reference point from the second edge line according to the first edge line; a third acquiring module, configured to determine a second reference point from the third sideline; A positioning module, configured to obtain workpiece position information according to the first reference point and the second reference point. 8. An electronic device, comprising a processor and a memory, wherein a computer program is stored on the memory, and the processor is configured to execute the computer program, so as to implement the computer program described in any one of claims 1 to 7. the workpiece positioning method. 9. A workpiece positioning system, comprising a camera device and the electronic device according to claim 8, wherein the camera device is connected to the electronic device; The camera device is used to acquire the workpiece image and send it to the electronic device; The electronic device is configured to receive the workpiece image and implement the workpiece positioning method according to any one of claims 1 to 7. 10. A computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed, the workpiece according to any one of claims 1 to 7 can be realized positioning method.

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