CN111890255B - Crimping method and crimping system - Google Patents
Crimping method and crimping system Download PDFInfo
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- CN111890255B CN111890255B CN202010747127.5A CN202010747127A CN111890255B CN 111890255 B CN111890255 B CN 111890255B CN 202010747127 A CN202010747127 A CN 202010747127A CN 111890255 B CN111890255 B CN 111890255B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The embodiment of the invention discloses a crimping method and a crimping system. The crimping method comprises the following steps: fixing a first calibration plate on a first platform, wherein the surface of the first calibration plate comprises at least two circles which are arranged side by side, and the circle centers of the at least two circles are positioned on the same straight line; controlling a second platform to drive a second camera to move, so that the second camera sequentially obtains calibration images of at least two different circles in the first calibration plate; determining the fixed error of the second platform according to the calibration image, the moving distance of the second platform and the actual distance of at least two different circles; removing the first calibration plate, fixing the first crimping piece on the first platform, and fixing the second crimping piece on the second platform; the second stage is moved according to the first image of the second crimp member photographed by the first camera, the second image of the first crimp member photographed by the second camera, and the fixing error to crimp the first crimp member and the second crimp member. The embodiment of the invention provides the crimping precision.
Description
Technical Field
The embodiment of the invention relates to a counterpoint crimping technology, in particular to a crimping method and a crimping system.
Background
With the improvement of living standard of people, electronic products become an indispensable part of life of people. In the prior art, a pressing process is usually used in the manufacturing process of electronic products, for example, a flexible FPC needs to be pressed on a designated area of a display panel in a display product.
However, the accuracy of the alignment and compression joint of the electronic product is low at present.
Disclosure of Invention
The invention provides a crimping method and a crimping system, which are used for improving crimping precision.
In a first aspect, an embodiment of the present invention provides a crimping method:
the crimping device includes: a first platform, a second platform, a first camera, and a second camera;
the first camera is fixed on the first platform, the second camera is fixed on the second platform, the first platform is used for fixing a first crimping piece, the second platform is used for fixing a second crimping piece, and the second platform is used for adjusting the position of the second crimping piece so that the second crimping piece is aligned with the first crimping piece;
the crimping method comprises the following steps:
fixing a first calibration plate on the first platform, wherein the surface of the first calibration plate comprises at least two circles arranged side by side, and the circle centers of the at least two circles are positioned on the same straight line;
controlling the second platform to drive the second camera to move, so that the second camera sequentially obtains calibration images of at least two different circles in the first calibration plate;
determining a fixed error of the second platform according to the calibration image, the moving distance of the second platform and the actual distances of the at least two different circles;
removing the first calibration plate, fixing the first crimp member to the first platform, and fixing the second crimp member to the second platform;
moving the second stage according to the first image of the second crimp taken by the first camera, the second image of the first crimp taken by the second camera, and the fixing error to crimp the first and second crimps.
Optionally, the distance between the centers of two adjacent circles in the first calibration plate along the connection line of the centers of the at least two circles is gradually increased.
Optionally, determining a fixed error of the second platform according to the calibration image, the moving distance of the second platform, and the actual distances of the at least two different circles, includes:
determining the actual coordinates of the circle centers of at least two different circles according to the calibration image;
determining the image distance of the at least two circles according to the actual coordinate and the moving distance;
and determining the fixed error of the second platform according to the image distance and the actual distance.
Optionally, fixing the first calibration plate to the first platform includes:
setting a connecting line of circle centers of at least two different circles in the first calibration plate to be parallel to the X axis; or a connecting line of circle centers of at least two different circles in the first calibration plate is arranged to be parallel to the Y axis.
Optionally, the method further includes:
fixing a first camera, enabling the first camera to shoot images of a plurality of different points, and determining a first conversion matrix of image coordinates and actual coordinates of points in the images of the first camera;
moving the second camera to enable the second camera to shoot a plurality of different images of the same point at a plurality of different positions, and determining a second conversion matrix of the image coordinates and the actual coordinates of the point in the image of the second camera;
accordingly, moving the second stage according to the first image of the second crimp captured by the first camera, the second image of the first crimp captured by the second camera, and the fixing error to crimp the first crimp and the second crimp includes:
determining a first actual coordinate of a second crimp according to a first transformation matrix and the first image;
determining a second actual coordinate of the first crimp according to the second transformation matrix and the second image;
and moving the second platform according to the first actual coordinate, the second actual coordinate and the fixed error so as to crimp the first crimping piece and the second crimping piece.
Optionally, fixing the first camera, so that the first camera captures images of a plurality of different points, and determining a first conversion matrix of image coordinates and actual coordinates of points in the image of the first camera, includes:
fixing a first camera, enabling the first camera to shoot images of at least four different points, and determining a first conversion matrix of image coordinates and actual coordinates of points in the images of the first camera;
moving the second camera such that the second camera captures a plurality of different images of the same point at a plurality of different locations, determining a second transformation matrix of image coordinates and actual coordinates of the point in the image of the second camera, comprising:
and moving the second camera to enable the second camera to shoot at least four different images of the same point at least four different positions, and determining a second conversion matrix of the image coordinates and the actual coordinates of the point in the image of the second camera.
Optionally, the method further includes:
moving the second camera to be right below the first camera, and shooting the same specific point on the second calibration board through the first camera and the second camera;
determining a third actual coordinate of the specific point according to the image coordinate of the specific point shot by the first camera and the first conversion matrix;
determining a fourth actual coordinate of the specific point according to the image coordinate of the specific point shot by the second camera and the second conversion matrix;
determining the relative position of the first camera and the second camera according to the difference value of the third actual coordinate and the fourth actual coordinate;
correspondingly, moving the second platform according to the first actual coordinate, the second actual coordinate and the fixing error to crimp the first crimp member and the second crimp member includes:
and moving the second platform according to the first actual coordinate, the second actual coordinate, the relative position and the fixed error so as to crimp the first crimping piece and the second crimping piece.
Optionally, the second calibration plate includes a cross pattern, and the specific point is a cross point of the cross pattern.
In a second aspect, an embodiment of the present invention further provides a crimping system, including:
a crimping apparatus comprising: a first platform, a second platform, a first camera, and a second camera;
the first camera is fixed on the first platform, the second camera is fixed on the second platform, the first platform is used for fixing a first crimping piece, the second platform is used for fixing a second crimping piece, and the second platform is used for adjusting the position of the second crimping piece so that the second crimping piece is aligned with the first crimping piece;
the pressure control device includes:
the first fixing module is used for fixing a first calibration plate on the first platform, the surface of the first calibration plate comprises at least two circles which are arranged side by side, and the circle centers of the at least two circles are positioned on the same straight line;
the image acquisition module is used for controlling the second platform to drive the second camera to move so that the second camera acquires calibration images of at least two different circles in the first calibration plate in sequence;
the fixed error determining module is used for determining the fixed error of the second platform according to the calibration image, the moving distance of the second platform and the actual distances of the at least two different circles;
a second fixing module for removing the first calibration plate, fixing the first crimp member to the first platform, and fixing the second crimp member to the second platform;
a crimping module for moving the second platform according to the first image of the second crimping piece photographed by the first camera, the second image of the first crimping piece photographed by the second camera, and the fixing error to crimp the first crimping piece and the second crimping piece.
Optionally, the distance between the centers of two adjacent circles in the first calibration plate along the connection line of the centers of the at least two circles is gradually increased.
According to the embodiment of the invention, the first calibration plate is fixed on the first platform before crimping, the second platform drives the second camera to move to sequentially shoot the calibration images of at least two circles on the first calibration plate, the fixing error of the second platform is determined according to the calibration images, the moving distance of the second platform and the actual distance of at least two different circles, and the second platform is corrected through the fixing error in the crimping process of the first crimping piece and the second crimping piece, so that the moving accuracy of the second platform corresponding to the second crimping piece is improved, the alignment accuracy of the first crimping piece and the second crimping piece is improved, and the crimping accuracy is improved.
Drawings
Fig. 1 is a schematic view of a crimping apparatus provided in the present embodiment;
fig. 2 is a flowchart of a crimping method provided in the present embodiment;
fig. 3 is a schematic view of a first calibration plate provided in this embodiment;
FIG. 4 is a schematic diagram of a calibration image taken by a second camera;
fig. 5 is a schematic view of a shooting field of view of the second camera provided in the present embodiment;
FIG. 6 is a schematic view of a second calibration plate provided in this embodiment;
fig. 7 is a schematic diagram of a crimping control device provided in the present embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The present embodiment provides a crimping method, fig. 1 is a schematic diagram of a crimping apparatus provided in the present embodiment, and fig. 2 is a flowchart of the crimping method provided in the present embodiment.
Referring to fig. 1, the crimping apparatus includes: a first platform 10, a second platform 20, a first camera 30 and a second camera 40;
the first camera 31 is fixed to the first platform 10, the second camera 40 is fixed to the second platform 20, the first platform 10 is used for fixing the first crimping piece 50, the second platform 20 is used for fixing the second crimping piece 60, and the second platform 20 is used for adjusting the position of the second crimping piece 60 so that the second crimping piece 60 is aligned with the first crimping piece 50;
referring to fig. 2, the crimping method includes:
And step 120, controlling the second platform to drive the second camera to move, so that the second camera sequentially obtains calibration images of at least two different circles in the first calibration plate.
Step 150, moving the second platform according to the first image of the second crimping piece shot by the first camera, the second image of the first crimping piece shot by the second camera and the fixing error so as to crimp the first crimping piece and the second crimping piece.
Wherein the first camera is used for shooting a first image of the second crimping piece, the coordinates of the second crimping piece can be determined according to the first image, the second camera is used for shooting a second image of the first crimping piece, and the coordinates of the first crimping piece can be determined according to the second image. The first platform is fixed in position and the second platform can move along the X axis and the Y axis. The crimping process of the first and second crimping members is generally: fixing the first crimping piece on one side of the first platform, which is adjacent to the second platform, and fixing the second crimping piece on the surface of the second platform, which is adjacent to the first platform, specifically fixing the first crimping piece through vacuum adsorption and the like; the second platform moves the second crimp member according to the coordinates to align the second crimp member with the first crimp member, thereby completing the crimping.
Fig. 3 is a schematic view of a first calibration plate provided in this embodiment, and referring to fig. 3, a plurality of circles may be disposed on a surface of the first calibration plate, and centers of the plurality of circles are located on a same straight line. The machining precision of each circle on the first calibration plate is 0.5 u. The second camera is driven to move by the second platform, so that the second camera sequentially shoots calibration images of two or more circles, for example, fig. 4 is a schematic diagram of the calibration images shot by the second camera, referring to fig. 4, the second camera sequentially shoots a first circle a and a fourth circle D, when the second platform has no fixed error, if the shot first circle a is located in the middle of the shooting field of view, the shot fourth circle D should also be located in the middle of the shooting field of view, and the distance between the centers of circles of the first circle a and the fourth circle D obtained according to the images is equal to the actual distance. When the second platform has a fixing error, the shot fourth circle D deviates from the right middle of the shot visual field, the circle center coordinates (X1, Y1) of the first circle A and the circle center coordinates (X2, Y2) of the second circle in the images can be determined through the calibration images shot twice, the fixing error of the second platform can be determined through the deviation degree of the two circle centers, the movement displacement of the second platform can be compensated in the alignment process of the first crimping piece and the second crimping piece according to the fixing error, the alignment accuracy of the first crimping piece and the second crimping piece is improved, and therefore the crimping accuracy is improved.
In the embodiment, the first calibration plate is fixed on the first platform before crimping, the second platform drives the second camera to move to sequentially shoot calibration images of at least two circles on the first calibration plate, the fixing error of the second platform is determined according to the calibration images, the moving distance of the second platform and the actual distance of at least two different circles, and the second platform is corrected through the fixing error in the crimping process of the first crimping piece and the second crimping piece, so that the moving precision of the second platform corresponding to the second crimping piece is improved, the alignment precision of the first crimping piece and the second crimping piece is improved, and the crimping precision is improved.
It should be noted that, distances between circle centers of adjacent circles in the first calibration plate may be the same or different.
Optionally, referring to fig. 3, in the first calibration plate, the distance between the centers of two adjacent circles along the connection line of the centers of the at least two circles is gradually increased. By means of the arrangement, when the second camera shoots different circles, the moving distances are different, and therefore the fixed errors are determined according to a plurality of different moving distances of the second platform, and the determined fixed errors are more accurate.
Specifically, referring to fig. 3, the first calibration board may include A, B, C and D four circles, and the distance between adjacent circles is the same, that is, on the connection line of the circle centers, the distance between the boundaries of adjacent circles is the same, and the radius of the circle increases gradually along the connection line of the circle centers.
Optionally, determining a fixed error of the second platform according to the calibration image, the moving distance of the second platform, and the actual distances of the at least two different circles, includes:
determining the actual coordinates of the circle centers of at least two different circles according to the calibration image;
determining the image distance of the at least two circles according to the actual coordinate and the moving distance;
and determining the fixed error of the second platform according to the image distance and the actual distance.
Specifically, fig. 5 is a schematic diagram of the shooting field of view of the second camera provided in this embodiment, and referring to fig. 4 and 5, fig. 5 shows a first shooting field of view of the first circle a and a second shooting field of view of the fourth circle D shot by the second camera, and coordinates of a center O1 of the first circle a and coordinates of a center O2 of the fourth circle a are respectively determined as (X1, Y1) according to the first shooting field of view and the second shooting field of view (X2, Y2). The width of the shooting visual field is L2, the moving distance of the second platform is L1, that is, the distance between the centers of the first shooting visual field and the second shooting visual field is L1, the distance between the boundaries of the first visual field and the second visual field is L1-L2, the distance LX of O1O2 in the X direction is L1-L2+ L2-X1+ X2 is L1-X1+ X2, and the distance LY of O1O2 in the Y direction is Y2-Y1. Image distance between O1O2
And the actual distance of the circle center between the first circle and the fourth circle on the first calibration plate is L, and the difference between the theoretical value and the actual value of the movement of the second platform is determined through Lt and L, so that the fixed error of the second platform is determined.
Furthermore, it is also possible to determine the tan ═ LY/LX, where T is the angle between the line connecting O1O2 and the X direction, so as to obtain the rotation fixing error of the second platform with respect to the X direction.
Optionally, fixing the first calibration plate to the first platform includes:
setting a connecting line of circle centers of at least two different circles in the first calibration plate to be parallel to the X axis; or a connecting line of circle centers of at least two different circles in the first calibration plate is arranged to be parallel to the Y axis.
By the arrangement, when the first calibration plate is shot, the calibration image can be shot only by controlling the second platform to move along the X direction or only by controlling the second platform to move along the Y direction, and the control mode is simpler. In addition, a connecting line of circle centers of at least two different circles in the first calibration plate is arranged to be parallel to the X axis, the second platform is controlled to move along the X axis direction to sequentially shoot calibration images of the two different circles, the fixing error of the second platform relative to the X axis can be determined, the connecting line of the circle centers of at least two different circles in the first calibration plate is arranged to be parallel to the Y axis, the second platform is controlled to move along the Y axis direction to sequentially shoot calibration images of the two different circles, the fixing error of the second platform relative to the Y axis can be determined, the error in a single direction can be determined every time, and the error determination precision is improved.
Optionally, the method further includes:
fixing a first camera, enabling the first camera to shoot images of a plurality of different points, and determining a first conversion matrix of image coordinates and actual coordinates of points in the images of the first camera;
moving the second camera to enable the second camera to shoot a plurality of different images of the same point at a plurality of different positions, and determining a second conversion matrix of the image coordinates and the actual coordinates of the point in the image of the second camera;
determining a first actual coordinate of a second crimp according to a first transformation matrix and the first image;
determining a second actual coordinate of the first crimp according to the second transformation matrix and the second image;
and moving the second platform according to the first actual coordinate, the second actual coordinate and the fixed error so as to crimp the first crimping piece and the second crimping piece.
In particular, the plurality of different points captured by the first camera cover as much as possible of the entire image field of view to ensure the accuracy of the first conversion matrix. When the second camera shoots a plurality of different images of the same point at a plurality of different positions, the plurality of positions of the point in the images cover the whole image view as much as possible, and the accuracy of the second conversion matrix is ensured. After the first camera and the second camera take images, the actual coordinates of the first crimp member and the second crimp member need to be determined according to the images, so that a conversion matrix of the coordinates of the image taken by the first camera and the actual coordinates and a conversion matrix of the image taken by the second camera and the actual coordinates need to be determined in advance. In the actual application process, the position of the first camera and the first platform is fixed, so that when the first conversion matrix is determined, the position of the first camera can be fixed, the first camera shoots a plurality of points with known actual coordinates in a certain area, and the first conversion matrix is determined by the image coordinates and the actual coordinates of the points. In addition, in practical application, the second camera is required to move along with the second platform within a certain range to shoot the image of the first pressure welding piece, so that the second camera can be moved within the shooting range required by the second camera to enable the second camera to shoot a plurality of images of a point with the same known actual coordinate, and the second conversion matrix is determined through the image coordinate and the actual coordinate of the point shot for a plurality of times.
Specifically, the first transformation matrix and the second transformation matrix may be solved by using the homography transformation, and the corresponding transformation matrices are called homography matrices. The homography matrix is defined as:
then there are:
solving the equation, and adding constraint conditions to H to obtain:
multiplying by the denominator and expanding to obtain
(h31x+h32y+h33)x′＝h11x+h12y+h13
(h31x+h32y+h33)y′＝h21x+h22y+h23
Finishing to obtain:
h11x+h12y+h13-h31xx′-h32yx′-h33x′＝0
h21x+h22y+-h23-h31xy′-h32yy′-h33y′＝0
the first and second transformation matrices may be derived by a first camera taking images of at least 4 different points and a second camera taking at least four different images of the same point at least 4 different positions.
Optionally, fixing the first camera, so that the first camera captures images of 16 different points, and determining a first conversion matrix of image coordinates and actual coordinates of points in the image of the first camera; and moving the second camera to enable the second camera to shoot 16 different images of the same point at 16 different positions, and determining a second conversion matrix of the image coordinates and the actual coordinates of the point in the image of the second camera.
By acquiring 16 sets of corresponding points, the accuracy of the transformation matrix can be better ensured, and the accuracy of the actual positions of the first crimping member and the second crimping member determined by the images shot by the first camera and the second camera is further improved, thereby improving the crimping accuracy.
Optionally, the method further includes:
moving the second camera to be right below the first camera, and shooting the same specific point on the second calibration board through the first camera and the second camera;
determining a third actual coordinate of the specific point according to the image coordinate of the specific point shot by the first camera and the first conversion matrix;
determining a fourth actual coordinate of the specific point according to the image coordinate of the specific point shot by the second camera and the second conversion matrix;
determining the relative position of the first camera and the second camera according to the difference value of the third actual coordinate and the fourth actual coordinate;
and moving the second platform according to the first actual coordinate, the second actual coordinate, the relative position and the fixed error so as to crimp the first crimping piece and the second crimping piece.
Specifically, since the first camera and the second camera have a certain relative distance, in order to unify the coordinate systems of the first camera and the second camera, the relative position between the first camera and the second camera needs to be calibrated. In the embodiment, the second camera is arranged right below the first camera, so that the second camera and the first camera shoot the same point, and the relative position of the first camera and the second camera is determined according to the difference value of the determined third actual coordinate and the determined fourth actual coordinate. Let the image coordinates of the points shot by the first camera and the second camera be Pc1 and Pc2, respectively, and the converted third actual coordinate and fourth actual coordinate be Pw1 and Pw2, respectively, then the relative position difference between the two cameras is Pw1-Pw 2.
Fig. 6 is a schematic view of a second calibration plate provided in this embodiment, and alternatively, referring to fig. 2, the second calibration plate includes a cross pattern, and the specific point is a cross point of the cross pattern.
Specifically, the machining accuracy of the cross pattern and the outer contour was 0.5 u.
It should be noted that, in this embodiment, the figure of the second calibration board is shown only by way of example, and the invention is not limited thereto, and in other embodiments, the second calibration board may further include other figures.
The present embodiment further provides a crimping system, fig. 7 is a schematic diagram of a crimping control device provided in the present embodiment, and referring to fig. 7, the system includes:
crimping apparatus 100, comprising: a first platform 10, a second platform 20, a first camera 30 and a second camera 40;
the first camera 30 is fixed to the first platform 10, the second camera 40 is fixed to the second platform 20, the first platform 10 is used for fixing the first crimping piece 50, the second platform 20 is used for fixing the second crimping piece 60, and the second platform 20 is used for adjusting the position of the second crimping piece 60 so that the second crimping piece 60 is aligned with the first crimping piece 50;
the crimping control device 200 includes:
the first fixing module 210 is configured to fix a first calibration plate to a first platform, where the surface of the first calibration plate includes at least two circles arranged side by side, and the centers of the at least two circles are located on the same straight line;
the image obtaining module 220 is configured to control the second platform to drive the second camera to move, so that the second camera obtains calibration images of at least two different circles in the first calibration plate in sequence;
a fixed error determining module 230, configured to determine a fixed error of the second platform according to the calibration image, the moving distance of the second platform, and the actual distances of the at least two different circles;
a second fixing module 240 for removing the first calibration plate, fixing the first crimp member to the first platform, and fixing the second crimp member to the second platform;
and a crimping module 250 for moving the second stage according to the first image of the second crimp photographed by the first camera, the second image of the first crimp photographed by the second camera, and the fixing error to crimp the first crimp and the second crimp.
Optionally, the distance between the centers of two adjacent circles in the first calibration plate along the connection line of the centers of at least two circles is gradually increased.
The crimping system provided by the embodiment and the crimping method provided by any embodiment of the invention belong to the same inventive concept, have corresponding beneficial effects, and the detailed technical details of the crimping system provided by any embodiment of the invention are not shown in the detailed technical details of the embodiment.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A crimping method, characterized by:
the crimping device includes: a first platform, a second platform, a first camera, and a second camera;
the first camera is fixed on the first platform, the second camera is fixed on the second platform, the first platform is used for fixing a first crimping piece, the second platform is used for fixing a second crimping piece, and the second platform is used for adjusting the position of the second crimping piece so that the second crimping piece is aligned with the first crimping piece;
the crimping method comprises the following steps:
fixing a first calibration plate on the first platform, wherein the surface of the first calibration plate comprises at least two circles arranged side by side, and the circle centers of the at least two circles are positioned on the same straight line;
controlling the second platform to drive the second camera to move, so that the second camera sequentially obtains calibration images of at least two different circles in the first calibration plate;
determining a fixed error of the second platform according to the calibration image, the moving distance of the second platform and the actual distances of the at least two different circles;
removing the first calibration plate, fixing the first crimp member to the first platform, and fixing the second crimp member to the second platform;
moving the second stage according to the first image of the second crimp taken by the first camera, the second image of the first crimp taken by the second camera, and the fixing error to crimp the first and second crimps.
2. The method of claim 1, wherein:
and the distance between the circle centers of the two adjacent circles in the first calibration plate along the connecting line of the circle centers of the at least two circles is gradually increased.
3. The method of claim 1, wherein determining the second platform fixing error according to the calibration image, the second platform moving distance and the actual distances of the at least two different circles comprises:
determining the actual coordinates of the circle centers of at least two different circles according to the calibration image;
determining the image distance of the at least two circles according to the actual coordinate and the moving distance;
and determining the fixed error of the second platform according to the image distance and the actual distance.
4. The method of claim 1, wherein securing a first calibration plate to the first platform comprises:
setting a connecting line of circle centers of at least two different circles in the first calibration plate to be parallel to the X axis; or a connecting line of circle centers of at least two different circles in the first calibration plate is arranged to be parallel to the Y axis.
5. The method of claim 1, further comprising:
fixing a first camera, enabling the first camera to shoot the same image of a plurality of different points, and determining a first conversion matrix of image coordinates and actual coordinates of the points in the image of the first camera;
moving the second camera to enable the second camera to shoot a plurality of different images of the same point at a plurality of different positions, and determining a second conversion matrix of the image coordinates and the actual coordinates of the point in the image of the second camera;
accordingly, moving the second stage according to the first image of the second crimp captured by the first camera, the second image of the first crimp captured by the second camera, and the fixing error to crimp the first crimp and the second crimp includes:
determining a first actual coordinate of a second crimp according to a first transformation matrix and the first image;
determining a second actual coordinate of the first crimp according to the second transformation matrix and the second image;
and moving the second platform according to the first actual coordinate, the second actual coordinate and the fixed error so as to crimp the first crimping piece and the second crimping piece.
6. The method of claim 5, wherein:
fixing a first camera so that the first camera takes the same image of a plurality of different points, and determining a first conversion matrix of image coordinates and actual coordinates of the points in the image of the first camera, the method comprising:
fixing a first camera, enabling the first camera to shoot the same image of at least four different points, and determining a first conversion matrix of image coordinates and actual coordinates of the points in the image of the first camera;
moving the second camera such that the second camera captures a plurality of different images of the same point at a plurality of different locations, determining a second transformation matrix of image coordinates and actual coordinates of the point in the image of the second camera, comprising:
and moving the second camera to enable the second camera to shoot at least four different images of the same point at least four different positions, and determining a second conversion matrix of the image coordinates and the actual coordinates of the point in the image of the second camera.
7. The method of claim 5, further comprising:
moving the second camera to be right below the first camera, and shooting the same specific point on the second calibration board through the first camera and the second camera;
determining a third actual coordinate of the specific point according to the image coordinate of the specific point shot by the first camera and the first conversion matrix;
determining a fourth actual coordinate of the specific point according to the image coordinate of the specific point shot by the second camera and the second conversion matrix;
determining the relative position of the first camera and the second camera according to the difference value of the third actual coordinate and the fourth actual coordinate;
correspondingly, moving the second platform according to the first actual coordinate, the second actual coordinate and the fixing error to crimp the first crimp member and the second crimp member includes:
and moving the second platform according to the first actual coordinate, the second actual coordinate, the relative position and the fixed error so as to crimp the first crimping piece and the second crimping piece.
8. The method of claim 7, wherein:
the second calibration plate includes a cross pattern, and the specific point is a cross point of the cross pattern.
9. A crimping system, comprising:
a crimping apparatus comprising: a first platform, a second platform, a first camera, and a second camera;
the first camera is fixed on the first platform, the second camera is fixed on the second platform, the first platform is used for fixing a first crimping piece, the second platform is used for fixing a second crimping piece, and the second platform is used for adjusting the position of the second crimping piece so that the second crimping piece is aligned with the first crimping piece;
the pressure control device includes:
the first fixing module is used for fixing a first calibration plate on the first platform, the surface of the first calibration plate comprises at least two circles which are arranged side by side, and the circle centers of the at least two circles are positioned on the same straight line;
the image acquisition module is used for controlling the second platform to drive the second camera to move so that the second camera acquires calibration images of at least two different circles in the first calibration plate in sequence;
the fixed error determining module is used for determining the fixed error of the second platform according to the calibration image, the moving distance of the second platform and the actual distances of the at least two different circles;
a second fixing module for removing the first calibration plate, fixing the first crimp member to the first platform, and fixing the second crimp member to the second platform;
a crimping module for moving the second platform according to the first image of the second crimping piece photographed by the first camera, the second image of the first crimping piece photographed by the second camera, and the fixing error to crimp the first crimping piece and the second crimping piece.
10. The system of claim 9, wherein:
and the distance between the circle centers of the two adjacent circles in the first calibration plate along the connecting line of the circle centers of the at least two circles is gradually increased.
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