CN112297032B - Position detection and attitude fine adjustment method and device, electronic equipment and storage medium - Google Patents

Position detection and attitude fine adjustment method and device, electronic equipment and storage medium Download PDF

Info

Publication number
CN112297032B
CN112297032B CN202011614379.7A CN202011614379A CN112297032B CN 112297032 B CN112297032 B CN 112297032B CN 202011614379 A CN202011614379 A CN 202011614379A CN 112297032 B CN112297032 B CN 112297032B
Authority
CN
China
Prior art keywords
material box
special material
information
wire harness
harness connector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011614379.7A
Other languages
Chinese (zh)
Other versions
CN112297032A (en
Inventor
陶红保
唐绍宾
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jihua Technology Co ltd
Original Assignee
Jihua Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jihua Technology Co ltd filed Critical Jihua Technology Co ltd
Priority to CN202011614379.7A priority Critical patent/CN112297032B/en
Publication of CN112297032A publication Critical patent/CN112297032A/en
Application granted granted Critical
Publication of CN112297032B publication Critical patent/CN112297032B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Abstract

The embodiment of the application provides a method and a device for position detection and attitude fine tuning, electronic equipment and a storage medium, and the technical scheme is as follows: the method comprises the following steps: acquiring clamping information of a wire harness connector; controlling the manipulator to act according to the clamping information of the wire harness connector; acquiring position information and angle information of a special material box; and controlling a manipulator to perform compensation adjustment according to the position information and the angle information of the special material box so that the wire harness connector is aligned and placed into the special material box. The position detection and posture fine adjustment method and device, the electronic equipment and the storage medium have the advantage that the wiring harness connector can be accurately installed in the special material box with high efficiency.

Description

Position detection and attitude fine adjustment method and device, electronic equipment and storage medium
Technical Field
The application relates to the technical field of automatic production, in particular to a position detection and posture fine adjustment method and device, electronic equipment and a storage medium.
Background
In the field of automatic installation, the most important problem is installation automation, and at present, to install the harness connector into the special material box, the general method is to use a pipeline to transport the harness connector to a specified position, and then use a manipulator to grab and install the harness connector into the special material box.
The method has larger error and limitation, and position error caused by position deviation can occur when the special material box is transported through the assembly line, or the position error is caused by other reasons, so that the wiring harness connector is installed at the position of the special material box when being installed, and the installation is not carried out or the materials are damaged.
In view of the above problems, improvements are needed.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for position detection and attitude fine adjustment, an electronic device, and a storage medium, which have the advantage of efficiently and accurately installing a harness connector into a special material box.
In a first aspect, an embodiment of the present application provides a method for position detection and attitude fine tuning, which includes the following steps: the method comprises the following steps:
acquiring clamping information of a wire harness connector;
controlling the manipulator to act according to the clamping information of the wire harness connector;
acquiring position information and angle information of a special material box;
and controlling a manipulator to perform compensation adjustment according to the position information and the angle information of the special material box so that the wire harness connector is aligned and placed into the special material box.
Further, in this embodiment of the application, the step of controlling the manipulator to perform compensation adjustment according to the position information and the angle information of the special material box includes:
and comparing the position information with preset special material box position information and angle information, sending an alarm signal when the position deviation of the special material box is greater than a preset value, and controlling a manipulator to perform compensation adjustment to enable the wire harness connector to be aligned and placed into the special material box when the position deviation of the special material box is less than or equal to the preset value.
Further, in this embodiment of the present application, the step of acquiring the position information and the angle information of the special material box includes:
acquiring clamping angle information of a wire harness connector;
and controlling the manipulator to perform compensation adjustment according to the position information and the angle information of the special material box and the clamping angle information of the wire harness connector.
Further, in this embodiment of the application, the step of controlling the manipulator to perform compensation adjustment according to the position information and the angle information of the special material box includes:
when the position deviation of the special material box exceeds a preset value, an alarm signal is sent out;
when the position deviation of the special material box does not exceed a preset value and the angle deviation of the special material box exceeds the preset value, judging by combining the clamping angle information of the wire harness connector;
and when the position deviation and the angle deviation of the special material box do not exceed the preset values, the judgment is made by combining the clamping angle information of the wire harness connector.
Further, in this embodiment of the application, the step of obtaining the position information of the special material box includes:
acquiring image information of the special material box;
calculating to obtain position information and angle information of the special material box according to the image information of the special material box;
the step of acquiring the image information of the special material box further comprises the following steps before the step of acquiring the image information of the special material box:
acquiring illumination intensity information;
and performing illumination compensation according to the illumination intensity information.
Further, in this embodiment of the application, the illumination intensity information includes illumination intensity information around the position of the special material box, and the illumination intensity information around the position of the special material box is illumination intensity information of all position points whose distance from the central point of the special material box is smaller than a preset value.
Further, in this embodiment of the application, the illumination intensity information includes illumination intensity information of a characteristic position of the special material box.
Further, this application still provides a position detection and gesture micromatic setting, includes:
the first acquisition module is used for acquiring clamping information of the wire harness connector;
the first processing module is used for controlling the manipulator to act according to the clamping information of the wire harness connector;
the second acquisition module is used for acquiring the position information and the angle information of the special material box and the clamping angle information of the wire harness connector;
and the second processing module controls the manipulator to perform compensation adjustment according to the position information and the angle information of the special material box and the clamping angle information of the wire harness connector so that the wire harness connector is aligned and placed into the special material box.
Further, the present application also provides an electronic device, which includes a processor and a memory, where the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, execute the steps in the method described above.
Further, a storage medium is provided, which when executed by a processor performs the steps of the method as described above.
As can be seen from the above, according to the position detection and posture fine adjustment method and apparatus, the electronic device, and the storage medium provided in the embodiments of the present application, the clamping information of the harness connector is obtained; then controlling the manipulator to act according to the clamping information of the wire harness connector; then, acquiring position information and angle information of the special material box; and finally, controlling the manipulator to perform compensation adjustment according to the position information and the angle information of the special material box so that the wire harness connector is aligned and placed in the special material box, and the special material box has the advantage of accurately placing the wire harness connector in the special material box with high efficiency.
Drawings
Fig. 1 is a flowchart of a position detection and posture fine adjustment method according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a position detecting and posture fine-tuning device according to an embodiment of the present disclosure.
Fig. 3 is a schematic view of an electronic device according to an embodiment of the present application.
In the figure: 210. a first acquisition module; 220. a first processing module; 230. a second acquisition module; 240. a second processing module; 300. an electronic device; 310. a processor; 320. a memory.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, a method for position detection and attitude fine tuning includes the following steps:
s110, acquiring clamping information of the wire harness connector;
s120, controlling the manipulator to act according to the clamping information of the wire harness connector;
s130, acquiring position information and angle information of the special material box and clamping angle information of the wire harness connector;
and S140, controlling the manipulator to perform compensation adjustment according to the position information and the angle information of the special material box and the clamping angle information of the wire harness connector so that the wire harness connector is aligned and placed into the special material box.
According to the technical scheme, the wire harness connector is conveyed to the designated position through the feeding production line, then the clamping device is driven by the manipulator to clamp the wire harness connector, the clamping information of the wire harness connector is acquired through tools such as a sensor or a camera in the process, namely, whether the clamping device successfully clamps the wire harness connector or not, then the information is transmitted to the control terminal, the control terminal controls the manipulator to move according to the clamping information of the wire harness connector, when the wire harness connector is not successfully clamped, the manipulator resets, then the wire harness connector is repeatedly clamped again, and when the wire harness connector is successfully clamped, the manipulator moves the clamped wire harness connector to the position close to the special material box.
In some embodiments, the number of times that the manipulator repeatedly grips is counted, the counted number of times is compared with a preset N value, when the counted number of times does not exceed the N value, the manipulator continues the gripping action, and when the counted number of times exceeds the N value, the manipulator stops the action and sends an alarm signal.
After the manipulator moves the clamped wire harness connector to a position close to the special material box, the position information and the angle information of the special material box are acquired through tools such as a sensor or a camera and are transmitted to the control terminal, the control terminal compares the position information and the angle information of the special material box with the preset position information and angle information of the special material box, and corresponding control is performed according to a comparison result.
Specifically, when the position deviation or the angle deviation of the special material box is larger than a preset value, an alarm signal is sent, wherein the alarm signal includes but is not limited to a buzzer, an indicator lamp flickers, a voice prompt and the like, after the alarm signal is sent, manual correction is needed, after the position or the angle of the special material box is corrected manually, the position and the angle of the special material box can be continuously detected until the position deviation and the angle deviation of the special material box are smaller than or equal to the preset value, and when the position deviation and the angle deviation of the special material box are smaller than or equal to the preset value, the manipulator is controlled to perform compensation adjustment to enable the wire harness connector to be aligned and placed into the special material box.
In the process that the manipulator drives the clamping device to clamp the wire harness connector, the clamping angle information of the wire harness connector is acquired through the sensor or the camera and is transmitted to the control terminal, the control terminal compares the clamping angle information of the wire harness connector with the preset position information and angle information of the special material box according to the position information and angle information of the special material box, and the clamping angle information of the wire harness connector, and controls correspondingly according to the comparison result.
Specifically, when the position deviation of the special material box exceeds a preset value, an alarm signal is sent out; at the moment, the position of the special material box needs to be corrected manually, and the position of the special material box needs to be detected after the position of the special material box is corrected manually until the position deviation of the special material box does not exceed a preset value.
When the position deviation of the special material box does not exceed a preset value and the angle deviation of the special material box exceeds the preset value, judging by combining the clamping angle information of the wire harness connector; when the angle deviation of the wire harness connector can carry out forward compensation on the angle deviation of the special material box, a difference value is obtained after the angle deviation of the wire harness connector carries out forward compensation on the angle deviation of the special material box, if the difference value does not exceed a preset value, the position of the wire harness connector is adjusted by combining the difference value through a manipulator, and the wire harness connector is aligned and placed into the special material box; if the difference value still exceeds the preset value, an alarm signal is sent to correct the angle of the special material box manually, and the angle of the special material box is detected after the position of the special material box is corrected manually until the angle deviation of the special material box does not exceed the preset value.
For example, when the position deviation of the special material box does not exceed the preset value, the angle deviation exceeds the preset value by A degrees in the clockwise direction, and the deviation of the wire harness connector occurs by B degrees in the clockwise direction, after the forward compensation calculation, the difference C between the wire harness connector and the special material box is A-B, and if the absolute value of C does not exceed the preset value, namely the manipulator can rotate clockwise by C degrees to align the wire harness connector and place the wire harness connector into the special material box. If the absolute value of C exceeds the preset value, namely the manipulator can not align the wire harness connector and put the wire harness connector into a special material box, an alarm signal needs to be sent out and corrected manually.
When the deviation of the angle of the wire harness connector carries out reverse compensation on the angle deviation of the special material box, an alarm signal is sent, the angle of the special material box needs to be corrected manually, and the angle of the special material box needs to be detected after the angle of the special material box is corrected manually until the angle deviation of the special material box is not beyond a preset value.
For example, when the position deviation of the special material box does not exceed the preset value, the angle deviation exceeds the preset value by a degree in the clockwise direction, and the wire harness connector has a deviation of B degrees in the counterclockwise direction, the angle deviation of the wire harness connector and the angle deviation of the special material box are reverse compensation, and the difference value C is a + B, the mechanical arm cannot align the wire harness connector and place the wire harness connector into the special material box, an alarm signal needs to be sent out, and the wire harness connector is corrected manually.
When the position deviation and the angle deviation of the special material box do not exceed the preset values, the judgment is made by combining the clamping angle information of the wire harness connector; when the angle deviation of the wire harness connector exceeds a preset value, an alarm signal is sent to correct the clamping angle of the wire harness connector manually, the angle of the wire harness connector is detected after the angle of the wire harness connector is corrected manually until the angle deviation of the wire harness connector does not exceed the preset value, and when the angle deviation of the wire harness connector does not exceed the preset value, the wire harness connector is aligned and placed into a special material box through a manipulator.
The forward compensation means that the angular deviation of the harness connector and the angular deviation of the special material box can be offset, and the reverse compensation means that the angular deviation of the harness connector and the angular deviation of the special material box cannot be offset, but the angular deviations are larger. Compared with the original scheme, the scheme in the embodiment is more reasonable and practical, the original scheme is that the manipulator is controlled to compensate and adjust according to the position information and the angle information of the special material box to align the wire harness connector and place the wire harness connector into the special material box, but the wire harness connector is clamped when the wire harness connector is clamped, the wire harness connector is clamped to be deviated, even if the position deviation and the angle deviation of the special material box do not exceed the preset value in the time, but the manipulator is subjected to position adjustment, because the clamping deviation of the wire harness connector leads to the condition that the wire harness connector cannot be accurately installed, and the problem can be well solved through the scheme recorded in the embodiment.
For example, when A degree deviation has appeared in the angle of special material box, the A degree deviation of equidirectional has appeared when pressing from both sides the pencil connector, and former scheme needs the manipulator to rotate A degree result and leads to unable the installation, and this scheme is through getting the angle of pressing from both sides of pencil connector to carry out compensation calculation to the angular deviation of pencil connector and the angular deviation of special material box, therefore the manipulator need not rotate both can directly install the pencil connector as in the special material box.
In one embodiment, the step of acquiring the position information of the special material box comprises the following steps:
s131, acquiring image information of the special material box;
s132, calculating the position information and the angle information of the special material box according to the image information of the special material box;
the step of obtaining the image information of the special material box further comprises the following steps before the step of obtaining the image information of the special material box:
s133, acquiring illumination intensity information;
and S134, performing illumination compensation according to the illumination intensity information.
According to the technical scheme, the image information of the special material box is acquired through the camera, the position information and the angle information of the special material box are acquired through the image information, before the image information of the special material box is acquired through the camera, the illumination intensity information is acquired through the sensor, and then illumination compensation is carried out according to the illumination intensity to enable the illumination intensity to meet the normal shooting requirement.
In one embodiment, the illumination intensity information includes illumination intensity information around the position of the special material box, and the illumination intensity information around the position of the special material box refers to illumination intensity information of all position points with a distance from the center point of the special material box smaller than a preset value.
Through above-mentioned technical scheme, when specifically acquireing illumination intensity information only need acquire the illumination intensity information around the special material box position can, illumination intensity around the special material box position is low excessively, when the shooting needs of unable satisfying normal camera, and control terminal controls corresponding light source equipment and gives out light and carries out illumination compensation.
In one embodiment, the illumination intensity information includes illumination intensity information of a characteristic location of the characteristic material box. The characteristic position of the special material box refers to that a certain specific position on the special material box is used as a characteristic position in advance, for example, a vertex angle or other positions on the special material box, and the whole position information and angle information of the special material box can be calculated according to the position information and angle information of the characteristic position of the special material box.
Through the technical scheme, the picture acquired by the camera only needs to contain the characteristic position of the target special material box, and the picture of the whole target special material box does not need to be accurately shot, so that the convenience of acquiring the picture is improved, and for example, in an area with high placing density of the special material box, the picture information of the whole target special material box is difficult to acquire. Meanwhile, the camera can also obtain the characteristic positions of a plurality of special material boxes by taking a picture, so that the position information and the angle information of the special material boxes can be calculated. In a further embodiment, the characteristic positions of different special material boxes are provided with different marks, such as different numbers, patterns, colors and the like, and the identification information of the target special material box and corresponding other information, such as position information, angle information and the like, can be further verified and compared through the mark information, so that the accuracy of the whole process is improved. The specific verification and comparison method may be to identify a characteristic position of the special material box in a photograph acquired by the camera, acquire the mark information carried by the characteristic position and the position information and the angle information of the special material box, and compare and verify a set of the mark information, the position information and the angle information acquired actually with a set recorded in the database.
In some embodiments, pertinence is realized, when the illumination intensity information is obtained, only the illumination intensity information at the characteristic position of the special material box needs to be obtained, when the illumination intensity at the characteristic position is too low, and the camera cannot normally obtain the image information, illumination compensation is carried out on the characteristic position through the light source equipment, so that on one hand, energy can be saved, on the other hand, the calculation amount of the control terminal can be reduced, and the operation efficiency is improved.
In practical application, the light source equipment has the illumination intensity of different gears to select, and control terminal selects the illumination intensity of different gears according to the illumination intensity information around the special material box position, can the energy can be saved on the one hand, and on the other hand can prevent that the illumination intensity is too high to lead to overexposure to make the camera can't carry out normal shooting. The control terminal may also control the light sources at different positions to perform light compensation according to the illumination intensity information around the position of the special material box, for example, in some embodiments, the light source device includes a plurality of light bulbs, the light bulbs are arranged in different directions, and the control terminal controls the light bulbs at different positions to light up according to the illumination intensity information around the position of the special material box, so as to perform illumination compensation. In other preferred embodiments, the control terminal may also control the light source device to operate to supplement light after adjusting the position of the light source device according to the illumination intensity information around the position of the special material box.
Further, referring to fig. 2, the present application also provides a position detecting and posture fine-tuning apparatus, including:
a first obtaining module 210, configured to obtain clamping information of a harness connector;
the first processing module 220 is configured to control the manipulator to perform actions according to the clamping information of the harness connector;
a second obtaining module 230, configured to obtain position information and angle information of the special material box and clamping angle information of the harness connector;
and a second processing module 240, configured to control the manipulator to perform compensation adjustment according to the position information and the angle information of the special material box and the clamping angle information of the harness connector, so that the harness connector is aligned with and placed in the special material box.
According to the technical scheme, the wire harness connector is conveyed to the designated position through the feeding production line, then the clamping device is driven by the manipulator to clamp the wire harness connector, in the process, the clamping information of the wire harness connector is obtained through the first obtaining module 210, namely whether the clamping device successfully clamps the wire harness connector or not, then the information is transmitted to the first processing module 220, the manipulator is controlled to move by the first processing module 220 according to the clamping information of the wire harness connector, when the wire harness connector is not successfully clamped, the manipulator resets, and then the wire harness connector is repeatedly clamped again; when the wire harness connector is successfully gripped, the manipulator moves the gripped wire harness connector to a position close to the special material box.
In some embodiments, the first processing module 220 counts the number of times that the manipulator repeatedly grips, compares the counted number of times with a preset N value, continues the gripping action when the counted number of times does not exceed the N value, and stops the gripping action and sends an alarm signal when the counted number of times exceeds the N value.
After the first processing module 220 controls the manipulator to move the clipped wire harness connector to a position close to the special material box, the second acquiring module 230 acquires the position information and the angle information of the special material box and transmits the position information and the angle information of the special material box to the second processing module 240, and the second processing module 240 compares the position information and the angle information of the special material box with the preset position information and angle information of the special material box and controls the corresponding operation according to the comparison result.
Specifically, when the position deviation or the angle deviation of the special material box is greater than a preset value, an alarm signal is sent, wherein the alarm signal includes, but is not limited to, a buzzer, a flashing indicator light, a voice prompt, and the like, after the alarm signal is sent, the manual correction is needed, after the position or the angle of the special material box is manually corrected, the second obtaining module 230 continues to detect the position and the angle of the special material box until the position deviation and the angle deviation of the special material box are both less than or equal to the preset value, and when the position deviation and the angle deviation of the special material box are both less than or equal to the preset value, the second processing module 240 controls the manipulator to perform compensation adjustment so that the harness connector is aligned and placed into the special material box.
Further, the second obtaining module 230 obtains the position information of the special material box, including:
the second obtaining module 230 obtains image information of the special material box;
the second processing module 240 calculates position information and angle information of the special material box according to the image information of the special material box;
before acquiring the image information of the special material box, the method further comprises the following steps:
the second obtaining module 230 obtains the illumination intensity information;
the second processing module 240 performs illumination compensation according to the illumination intensity information.
Wherein, the illumination intensity information comprises the illumination intensity information around the position of the special material box.
Wherein, the illumination intensity information also comprises the illumination intensity information of the characteristic position of the special material box.
Further, referring to fig. 3, the present application also provides an electronic device 300, which includes a processor 310 and a memory 320, where the memory 320 stores computer-readable instructions, and when the computer-readable instructions are executed by the processor 310, the steps in the method are executed.
By the above technical solution, the processor 310 and the memory 320 are interconnected and communicate with each other through a communication bus and/or other form of connection mechanism (not shown), and the memory 320 stores a computer program executable by the processor 310, and when the computing device runs, the processor 310 executes the computer program to execute the method in any optional implementation manner of the foregoing embodiment to implement the following functions: acquiring clamping information of a wire harness connector; controlling the manipulator to act according to the clamping information of the wire harness connector; acquiring position information and angle information of a special material box; and controlling the manipulator to perform compensation adjustment according to the position information and the angle information of the special material box so that the wire harness connector is aligned and placed into the special material box.
Further, a storage medium is provided, and a computer program is executed by a processor to execute the steps of the above method.
Through the technical scheme, when being executed by a processor, the computer program executes the method in any optional implementation manner of the embodiment to realize the following functions: acquiring clamping information of a wire harness connector; controlling the manipulator to act according to the clamping information of the wire harness connector; acquiring position information and angle information of a special material box; and controlling the manipulator to perform compensation adjustment according to the position information and the angle information of the special material box so that the wire harness connector is aligned and placed into the special material box. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (7)

1. A position detection and posture fine adjustment method is used for accurately installing a wire harness connector into a special material box, and is characterized by comprising the following steps:
acquiring clamping information of a wire harness connector;
controlling the manipulator to act according to the clamping information of the wire harness connector;
acquiring position information and angle information of a special material box and clamping angle information of a wire harness connector;
controlling a manipulator to perform compensation adjustment according to the position information and the angle information of the special material box and the clamping angle information of the wire harness connector to enable the wire harness connector to be aligned and placed into the special material box, and specifically, sending an alarm signal when the position deviation of the special material box exceeds a preset value;
when the position deviation of the special material box does not exceed a preset value and the angle deviation of the special material box exceeds the preset value, judging by combining the clamping angle information of the wire harness connector, and further sending an alarm signal or controlling a manipulator to perform compensation adjustment so that the wire harness connector is aligned to and placed in the special material box;
and when the position deviation and the angle deviation of the special material box do not exceed the preset values, judging by combining the clamping angle information of the wire harness connector, and then sending an alarm signal or controlling the manipulator to perform compensation adjustment so that the wire harness connector is aligned and placed into the special material box.
2. The position detection and posture fine adjustment method according to claim 1, wherein the step of acquiring the position information of the special material box includes:
acquiring image information of the special material box;
calculating to obtain position information and angle information of the special material box according to the image information of the special material box;
the step of acquiring the image information of the special material box further comprises the following steps before the step of acquiring the image information of the special material box:
acquiring illumination intensity information;
and performing illumination compensation according to the illumination intensity information.
3. The position detection and posture fine adjustment method according to claim 2, wherein the illumination intensity information includes illumination intensity information around the position of the special material box, and the illumination intensity information around the position of the special material box is illumination intensity information of all position points whose distance from a center point of the special material box is smaller than a preset value.
4. The position detection and posture fine adjustment method according to claim 2, wherein the illumination intensity information includes illumination intensity information of a characteristic position of the special material box.
5. A position detection and attitude fine adjustment device, characterized by comprising:
the first acquisition module is used for acquiring clamping information of the wire harness connector;
the first processing module is used for controlling the manipulator to act according to the clamping information of the wire harness connector;
the second acquisition module is used for acquiring the position information and the angle information of the special material box and the clamping angle information of the wire harness connector;
the second processing module controls the manipulator to perform compensation adjustment according to the position information and the angle information of the special material box and the clamping angle information of the wire harness connector so that the wire harness connector is aligned and placed into the special material box, and specifically, when the position deviation of the special material box exceeds a preset value, an alarm signal is sent out;
when the position deviation of the special material box does not exceed a preset value and the angle deviation of the special material box exceeds the preset value, judging by combining the clamping angle information of the wire harness connector;
and when the position deviation and the angle deviation of the special material box do not exceed the preset values, judging by combining the clamping angle information of the wire harness connector.
6. An electronic device comprising a processor and a memory, said memory storing computer readable instructions which, when executed by said processor, perform the steps of the method of any of claims 1-4.
7. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method according to any one of claims 1-4.
CN202011614379.7A 2020-12-30 2020-12-30 Position detection and attitude fine adjustment method and device, electronic equipment and storage medium Active CN112297032B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011614379.7A CN112297032B (en) 2020-12-30 2020-12-30 Position detection and attitude fine adjustment method and device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011614379.7A CN112297032B (en) 2020-12-30 2020-12-30 Position detection and attitude fine adjustment method and device, electronic equipment and storage medium

Publications (2)

Publication Number Publication Date
CN112297032A CN112297032A (en) 2021-02-02
CN112297032B true CN112297032B (en) 2021-04-06

Family

ID=74487683

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011614379.7A Active CN112297032B (en) 2020-12-30 2020-12-30 Position detection and attitude fine adjustment method and device, electronic equipment and storage medium

Country Status (1)

Country Link
CN (1) CN112297032B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5740602A (en) * 1995-02-01 1998-04-21 Alcoa Fujikura Limited Wire harness assembly system
JPH10322842A (en) * 1997-05-22 1998-12-04 Yazaki Corp Protector attaching angle adjusting structure
CN105388915A (en) * 2014-08-27 2016-03-09 矢崎总业株式会社 Position detection device and method of connector shell
CN105720448A (en) * 2014-12-17 2016-06-29 科迈士瑞士股份有限公司 Arrangement And Method For Equipping Plug Housings
CN110910358A (en) * 2019-11-11 2020-03-24 季华实验室 Visual detection method of wire harness terminal

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5740602A (en) * 1995-02-01 1998-04-21 Alcoa Fujikura Limited Wire harness assembly system
JPH10322842A (en) * 1997-05-22 1998-12-04 Yazaki Corp Protector attaching angle adjusting structure
CN105388915A (en) * 2014-08-27 2016-03-09 矢崎总业株式会社 Position detection device and method of connector shell
CN105720448A (en) * 2014-12-17 2016-06-29 科迈士瑞士股份有限公司 Arrangement And Method For Equipping Plug Housings
CN110910358A (en) * 2019-11-11 2020-03-24 季华实验室 Visual detection method of wire harness terminal

Also Published As

Publication number Publication date
CN112297032A (en) 2021-02-02

Similar Documents

Publication Publication Date Title
EP1449626B1 (en) Workpiece conveying apparatus with visual sensor for checking the gripping state
US10285318B2 (en) Lead position detecting apparatus and component inserting machine
CN107463902B (en) Method and system for automatically identifying projection abnormity of projector
CN109186457A (en) A kind of Parts Recognition method and apparatus of binocular and production line using the device
US20190133010A1 (en) Contactless electric power supply device
CN112297032B (en) Position detection and attitude fine adjustment method and device, electronic equipment and storage medium
US10285314B2 (en) Component mounter
CN112330749A (en) Hand-eye calibration method and hand-eye calibration device for camera mounted on robot arm
CN113692215A (en) System, method and device for adjusting position of patch element
CN108406297B (en) Positioning system and positioning method for assembling multiple cameras
CN113618746A (en) Robot navigation control method and device, electronic equipment and storage medium
CN207753927U (en) Circuit board feeding apparatus
CN111993420A (en) Fixed binocular vision 3D guide piece feeding system
CN115609254B (en) Automatic flexible circuit board assembly system, method and device
US20210007255A1 (en) Component-mounting device
CN114147727A (en) Method, device and system for correcting pose of robot
US20210138653A1 (en) Module Insertion System For Robotic Assembly
CN110171708B (en) Automatic control method for high-precision material taking and discharging
US20210100143A1 (en) Component-mounting device
KR100573471B1 (en) Wafer align method using digital image
US10701851B2 (en) Method of mounting a component on a circuit substrate
KR101738847B1 (en) Apparatus and method for determining combination status of combination means
US11893718B2 (en) Image recognition method and image recognition device
KR102319894B1 (en) Teaching point settlement method in handler for testing semiconductor device and the handler
EP3914060B1 (en) Component mounting device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant