CN113393534A

CN113393534A - Product laminating method, device, equipment and system

Info

Publication number: CN113393534A
Application number: CN202110697548.6A
Authority: CN
Inventors: 唐文彬; 陈招东; 杜兵
Original assignee: Guangdong Lyric Robot Intelligent Automation Co Ltd
Current assignee: Guangdong Lyric Robot Automation Co Ltd
Priority date: 2021-06-23
Filing date: 2021-06-23
Publication date: 2021-09-14
Anticipated expiration: 2041-06-23
Also published as: CN113393534B

Abstract

The application relates to the field of equipment part machining, in particular to a product fitting method, device, equipment and system. The product attaching method provided by the embodiment of the application comprises the following steps: acquiring a first current position of a first workpiece according to a first workpiece image, and photographing the first workpiece through a first camera to acquire the first workpiece image; acquiring a second current position of a second workpiece according to the second workpiece image, and photographing the second workpiece through a second camera to acquire the second workpiece image; and controlling the first manipulator to correct the deviation of the first workpiece and/or controlling the second manipulator to correct the deviation of the second workpiece according to the first current position and the second current position, so that the first workpiece and the second workpiece are aligned and attached. The product laminating method, the device, the equipment and the system can improve the alignment laminating efficiency of the first workpiece and the second workpiece.

Description

Product laminating method, device, equipment and system

Technical Field

The application relates to the field of equipment part machining, in particular to a product fitting method, device, equipment and system.

Background

In the field of equipment part processing, workpieces are generally required to be attached, for example, a first workpiece is attached to a second workpiece, in the process, the first workpiece and the second workpiece are often photographed by a certain camera at the same time to obtain current positions of the first workpiece and the second workpiece, then the first manipulator is controlled to correct the deviation of the first workpiece according to the current position of the first workpiece, and meanwhile, the second workpiece is corrected according to the current position of the second workpiece, so that alignment and attachment of the first workpiece and the second workpiece are achieved. Because a single camera needs to photograph the first workpiece and the second workpiece at the same time, the visual field range of the camera is large, the positioning accuracy of the first workpiece and the second workpiece is low under the large visual field range, and finally, the alignment and bonding accuracy of the first workpiece and the second workpiece is reduced. At present, in order to solve the foregoing problems, a first workpiece and a second workpiece are usually photographed by two cameras to obtain current positions of the first workpiece and the second workpiece, and then the first manipulator is controlled to correct the deviation of the first workpiece according to the current position of the first workpiece, and meanwhile, the second workpiece is corrected according to the current position of the second workpiece, so as to achieve alignment and attachment of the first workpiece and the second workpiece. However, in the process of acquiring the related data of the two cameras, the complexity of control logic and algorithm is high, so that the debugging workload is too large, the debugging time is too long, and the alignment and lamination efficiency is affected.

Disclosure of Invention

An object of the embodiments of the present application is to provide a method, an apparatus, a device and a system for product attachment, so as to improve the accuracy of product attachment.

In a first aspect, a product fitting method provided in an embodiment of the present application includes:

determining a first workpiece area corresponding to a first workpiece from the first workpiece image, and acquiring the coordinate position of the first workpiece in a first camera coordinate system according to the position information of the first workpiece area in the first workpiece image, wherein the first workpiece image is acquired by photographing the first workpiece through a first camera;

acquiring a first current position of the first workpiece in a first manipulator coordinate system according to the coordinate position of the first workpiece in a first camera coordinate system;

determining a second workpiece area corresponding to a second workpiece from the second workpiece image, and acquiring the coordinate position of the second workpiece in a second camera coordinate system according to the position information of the second workpiece area in the second workpiece image, wherein the second workpiece image is acquired by photographing the second workpiece through a second camera;

acquiring a first target position of a second workpiece in a second manipulator coordinate system according to a coordinate position of the second workpiece in the second camera coordinate system, and acquiring a second target position of the second workpiece in the first manipulator coordinate system according to the first target position, wherein the second target position is a second current position of the second workpiece, or acquiring a first target position of the second workpiece in the second manipulator coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, wherein the first target position is a second current position;

if the second target position is the second current position, the first manipulator is controlled to correct the deviation of the first workpiece according to the first current position and the second current position so as to achieve alignment fitting of the first workpiece and the second workpiece, if the first target position is the second current position, the first manipulator is controlled to correct the deviation of the first workpiece according to the first current position, and the second manipulator is controlled to correct the deviation of the second workpiece according to the second current position so as to achieve alignment fitting of the first workpiece and the second workpiece.

With reference to the first aspect, an embodiment of the present application further provides a first optional implementation manner of the first aspect, and according to the first current position and the second current position, the method for controlling the first manipulator to correct the deviation of the first workpiece so as to implement alignment and joint of the first workpiece and the second workpiece includes:

calculating a first deviation correction amount aiming at the first workpiece according to the first current position and the second current position;

and sending the first deviation correction amount to the first manipulator, so that the first manipulator corrects the deviation of the first workpiece according to the first deviation correction amount, and the alignment and the attachment of the first workpiece and the second workpiece are realized.

With reference to the first optional implementation manner of the first aspect, an embodiment of the present application further provides a second optional implementation manner of the first aspect, and the calculating a first deviation correction amount for the first workpiece according to the first current position and the second current position includes:

according to the first current position, the rotation center position of the first manipulator and the first angle deviation between the first manipulator template and the second manipulator template, acquiring a third current position of the first workpiece when the angle of the first manipulator template is corrected to be consistent with the angle of the second manipulator template;

according to the third current position, the position of the rotation center of the first manipulator and the position of the rotation center of the second manipulator, acquiring a fourth current position of the first workpiece in the coordinate axis of the first manipulator when the rotation center of the first manipulator is translated to coincide with the rotation center of the second manipulator;

according to the fourth current position, the second camera template and the second angle deviation between the first camera template and the first current position, acquiring a fifth current position of the first workpiece in the coordinate system of the first manipulator when the first workpiece is corrected from the fourth current position to be consistent with the angle of the second camera template;

according to the fifth current position, the rotation center position of the second manipulator and the third angular deviation between the second current position and the second camera template, acquiring a sixth current position of the first workpiece in the coordinate system of the first manipulator when the second camera template is corrected to be consistent with the second current position;

and calculating a first deviation correction amount aiming at the first workpiece according to the second current position, the sixth current position, the second angle deviation and the third angle deviation.

In combination with the first aspect, an embodiment of the present application further provides a third optional implementation manner of the first aspect, according to the first current position, the first manipulator is controlled to correct the deviation of the first workpiece, and according to the second current position, the second manipulator is controlled to correct the deviation of the second workpiece, so as to implement alignment and attachment of the first workpiece and the second workpiece, including:

calculating a second deviation correction amount aiming at the first workpiece according to the first current position;

calculating a third offset for the second workpiece according to the second current position;

and sending the second deviation correcting amount to the first manipulator, and sending the third deviation correcting amount to the second manipulator, so that the first manipulator corrects the deviation of the first workpiece according to the second deviation correcting amount, and the second manipulator corrects the deviation of the second workpiece according to the third deviation correcting amount, thereby realizing the alignment and the fitting of the first workpiece and the second workpiece.

With reference to the third optional implementation manner of the first aspect, an embodiment of the present application further provides a fourth optional implementation manner of the first aspect, and the calculating a second correction amount for the first workpiece according to the first current position includes:

according to the first current position, the rotation center position of the first manipulator and a fourth angle deviation between the first manipulator template and the second manipulator template, acquiring a seventh current position of the first workpiece when the angle of the first manipulator template is corrected to be consistent with the angle of the second manipulator template;

acquiring an eighth current position of the first workpiece when the first workpiece is corrected from the seventh current position to be consistent with the angle of the first camera template according to the seventh current position, the rotation center position of the first manipulator and the fifth angle deviation between the first camera template and the first current position;

acquiring a ninth current position of the first workpiece in a coordinate system of the first manipulator when the angle of the first camera template is corrected to be consistent with the angle of the second camera template according to the first camera template, the rotation center position of the first manipulator and the fourth angle deviation;

and calculating a second deviation correction amount for the first workpiece according to the ninth current position and the fifth angle deviation.

With reference to the third optional implementation manner of the first aspect, this application example further provides a fifth optional implementation manner of the first aspect, and the calculating a third offset for the second workpiece according to the second current position includes:

according to the second current position, the rotation center position of the second manipulator and the sixth-degree deviation between the second camera template and the second current position, acquiring a tenth current position of the second workpiece when the first workpiece is corrected from the second current position to be consistent with the angle of the second camera template;

and calculating a third offset for the second workpiece according to the second camera template, the tenth current position and the sixth angle deviation.

In a second aspect, a product bonding apparatus provided by an embodiment of the present application includes:

the first position acquisition module is used for determining a first workpiece area corresponding to the first workpiece from the first workpiece image, acquiring the coordinate position of the first workpiece in a first camera coordinate system according to the position information of the first workpiece area in the first workpiece image, and photographing the first workpiece through the first camera to acquire the first workpiece image;

the second position acquisition module is used for acquiring a first current position of the first workpiece in the first manipulator coordinate system according to the coordinate position of the first workpiece in the first camera coordinate system;

the third position obtaining module is used for determining a second workpiece area corresponding to the second workpiece from the second workpiece image, obtaining the coordinate position of the second workpiece in a second camera coordinate system according to the position information of the second workpiece area in the second workpiece image, and obtaining the second workpiece image by photographing the second workpiece through the second camera;

the fourth position obtaining module is used for obtaining a first target position of the second workpiece in the second manipulator coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, and obtaining a second target position of the second workpiece in the first manipulator coordinate system according to the first target position, wherein the second target position is a second current position of the second workpiece, or obtaining a first target position of the second workpiece in the second manipulator coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, and the first target position is a second current position;

and the deviation correcting calculation module is used for controlling the first manipulator to correct the deviation of the first workpiece according to the first current position and the second current position when the second target position is the second current position so as to realize the alignment and the lamination of the first workpiece and the second workpiece, controlling the first manipulator to correct the deviation of the first workpiece according to the first current position when the first target position is the second current position, and controlling the second manipulator to correct the deviation of the second workpiece according to the second current position so as to realize the alignment and the lamination of the first workpiece and the second workpiece.

In a third aspect, the product attaching device provided in an embodiment of the present application includes a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the computer program to implement the first aspect, or the product attaching method provided in any optional implementation manner of the first aspect.

In a fourth aspect, the product attaching system provided by the embodiment of the application includes a first camera, a second camera, a first manipulator, a second manipulator, and the product attaching device provided by the third aspect, where the first camera, the second camera, the first manipulator, and the second manipulator are respectively connected with the product attaching device;

the product laminating equipment is used for:

In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the product attaching method provided in the first aspect or any optional implementation manner of the first aspect may be implemented.

On one hand, in the implementation process of the product attaching method provided by the embodiment of the application, since the first workpiece image is obtained by taking a picture of the first workpiece through the first camera alone, and the second workpiece image is obtained by taking a picture of the second workpiece through the second camera alone, the picture taking action can be completed within a small visual field range, and compared with a scheme of taking a picture of the first workpiece and the second workpiece through a single camera simultaneously, the positioning accuracy of the first workpiece and the second workpiece can be improved, and finally, the alignment attaching accuracy of the first workpiece and the second workpiece is improved, on the other hand, if the second target position is the second current position, the first manipulator is controlled to correct the first workpiece according to the first current position and the second current position so as to achieve the alignment attaching of the first workpiece and the second workpiece, and if the first target position is the second current position, then according to first current position, control first manipulator and rectify a deviation to first work piece, and according to second current position, control second manipulator and rectify a deviation to the second work piece to realize the counterpoint laminating of first work piece and second work piece, consequently, for prior art, the debugging work load is less, the debugging time is shorter, consequently, can improve counterpoint laminating efficiency.

Furthermore, when the first deviation correction amount aiming at the first workpiece is calculated according to the first current position and the second current position, the adopted specific deviation correction strategy is simplified, and similarly, the second deviation correction amount aiming at the first workpiece is calculated according to the first current position, and the adopted specific deviation correction strategy is simplified when the third deviation amount aiming at the second workpiece is calculated according to the second current position, so that the debugging time can be further shortened, and the alignment and lamination efficiency of the first workpiece and the second workpiece is improved.

The product attaching device, the equipment, the system and the computer readable storage medium provided by the embodiment of the application have the same beneficial effects as the product attaching method, and are not repeated herein.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural block diagram of a product attaching device according to an embodiment of the present application.

Fig. 2 is a flowchart illustrating steps of a product attaching method according to an embodiment of the present disclosure.

Fig. 3 is an auxiliary explanatory diagram of a coordinate mapping relationship obtaining method according to an embodiment of the present application.

Fig. 4 is an auxiliary explanatory diagram of another coordinate mapping relationship obtaining method according to an embodiment of the present application.

Fig. 5 is an auxiliary explanatory diagram of another coordinate mapping relationship obtaining method according to an embodiment of the present application.

Fig. 6 is an auxiliary explanatory diagram of a skew correction amount calculation process according to an embodiment of the present application.

Fig. 7 is an auxiliary explanatory diagram of another error correction amount calculation process provided in the embodiment of the present application.

Fig. 8 is an auxiliary explanatory diagram of another error correction amount calculation process provided in the embodiment of the present application.

Fig. 9 is a schematic structural block diagram of a product attaching device according to an embodiment of the present application.

Fig. 10 is a schematic structural diagram of a product attaching system according to an embodiment of the present disclosure.

Reference numerals: 100-product fitting equipment; 110-a processor; 120-a memory; 200-a product attaching device; 210-a first location acquisition module; 220-a second position acquisition module; 230-a third position acquisition module; 240-fourth position acquisition module; 250-deviation rectifying calculation module; 300-a product fit system; 310-a first camera; 320-a second camera; 330-a first manipulator; 340-second robot.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments 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.

Referring to fig. 1, the present application provides a product bonding apparatus 100, configured to control a first robot to correct a first workpiece and/or control a second robot to correct a second workpiece, so as to achieve alignment bonding of the first workpiece and the second workpiece, where the first robot and the second robot are automatic operation devices capable of grabbing, moving, or operating a tool according to a real-time receiving program, and the first workpiece and the second workpiece may be, but are not limited to, a semiconductor patch, a resistor patch, and an optical display component.

Structurally, product conforming apparatus 100 can include a processor 110 and a memory 120.

The processors 110 and memories 120 are each electrically connected, directly or indirectly, to enable data transfer or interaction, such as via one or more communication buses or signal lines. Part of the execution logic of the product application method may be stored in the memory 120 in the form of at least one software module, a piece of computer program, or a piece of Firmware (Firmware), or may be solidified in an Operating System (OS) of the product application apparatus 100. The processor 110 is configured to execute software functional modules or computer programs and the like stored in the memory 120 to implement the product-based attaching method. The processor 110 may execute the computer program upon receiving the execution instruction.

The processor 110 may be an integrated circuit chip having signal processing capabilities. The Processor 110 may also be a general-purpose Processor, for example, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a discrete gate or transistor logic device, a discrete hardware component, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. Further, a general purpose processor may be a microprocessor or any conventional processor or the like.

The Memory 120 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), and an electrically Erasable Programmable Read-Only Memory (EEPROM). The memory 120 is used for storing a program, and the processor 110 executes the program after receiving the execution instruction.

It should be understood that the configuration shown in fig. 1 is merely illustrative, and that embodiments of the present disclosure may provide a product application apparatus 100 having fewer or more components than those shown in fig. 1, or having a different configuration than that shown in fig. 1, for example, the product application apparatus 100 may further include a communication component for communicating with the first camera, the second camera, the first manipulator, or the second manipulator.

Referring to fig. 2, a step flow chart of a product bonding method provided in the embodiment of the present application includes step S100, step S200, and step S300, where the product bonding method is applied to the product bonding apparatus 100 shown in fig. 1, it should be noted that the product bonding method provided in the embodiment of the present application is not limited by the sequence shown in fig. 2 and the following, and the step flow of the product bonding method provided in the embodiment of the present application is described below with reference to fig. 2.

Step S100, a first workpiece area corresponding to a first workpiece is determined from a first workpiece image, the coordinate position of the first workpiece in a first camera coordinate system is obtained according to the position information of the first workpiece area in the first workpiece image, and the first workpiece image is obtained by photographing the first workpiece through a first camera.

In the embodiment of the application, after the first manipulator catches the first workpiece blindly and moves to the visual field range of the first camera, a photographing request instruction can be generated, the photographing request instruction is directly sent to the first camera, or the photographing request instruction is forwarded to the first camera through the product attaching device, the first camera starts to operate after receiving the photographing request instruction, photographs the first workpiece, obtains an image of the first workpiece, sends the image of the first workpiece to the product attaching device, and executes the step S100 through the product attaching device.

In the embodiment of the application, the first workpiece area corresponding to the first workpiece can be determined from the first workpiece image through an edge detection algorithm such as Robert, Sobel and Laplace. Thereafter, the coordinate position of the first workpiece in the first camera coordinate system is acquired based on the position information of the first workpiece area in the first workpiece image.

Step S200, acquiring a first current position of the first workpiece in the first robot coordinate system according to the coordinate position of the first workpiece in the first camera coordinate system.

In this embodiment, a first current position of the first workpiece in the first robot coordinate system may be obtained according to a coordinate position of the first workpiece in the first camera coordinate system in combination with a first coordinate mapping relationship between the first camera coordinate system and the first robot coordinate system.

Referring to fig. 3, as for the first coordinate mapping relationship, in the embodiment of the present application, as a first optional implementation manner, the following steps may be performed.

(1) Controlling an execution end of the first manipulator to capture a calibration workpiece provided with a Mark point, placing the calibration workpiece to the center of a visual field range of a first camera (for example, a point position 1 in fig. 3), and taking a picture of the calibration workpiece through the first camera to obtain position information of the execution end of the first manipulator at the current moment;

(2) the execution end of the first manipulator respectively finishes N point locations (for example, point locations 2 to 9 in fig. 3) according to a preset track, and a calibrated workpiece is photographed by the first camera every time one point location is finished so as to obtain the position information of the execution end of the first manipulator at the current moment;

(3) and acquiring a first coordinate mapping relation according to the acquired N +1 pieces of position information.

It should be noted that, in the foregoing embodiment, specific setting positions of the N point locations and specific values of N may be set according to project requirements, which is not specifically limited in this embodiment of the application.

Referring to fig. 4, as a second optional implementation manner of the first coordinate mapping relationship, in the embodiment of the present application, the first coordinate mapping relationship may be obtained through the following steps.

(1) After the first mechanical arm is controlled to grab a calibration workpiece provided with Mark points, walking the calibration workpiece according to a preset motion trail, and the first camera sequentially shoots the calibration workpiece to detect the position information of the Mark points in the visual field range of the first camera;

(2) taking the motion trail of the Mark point in the first camera view range as shown in the left side of fig. 4 as an example, it is found that in the first camera view range, the motion trail of the Mark point (shown in the left side of fig. 4) and the actual motion trail of the first manipulator execution end (shown in the right side of fig. 4) are in a central symmetry relationship with the point 1 as a central symmetry point, that is, under the condition that the first camera is fixed, the coordinate of the point N in the first manipulator coordinate system is a symmetry point with the point 1 as the center in the coordinates given by the first manipulator execution end;

(3) and calculating a first coordinate mapping relation according to the relation in the steps.

Referring to fig. 5, as a third optional implementation manner of the first coordinate mapping relationship, in the embodiment of the present application, the first coordinate mapping relationship may be obtained through the following steps.

(1) Controlling an execution end of the first manipulator to grab a calibration workpiece provided with a Mark point, placing the calibration workpiece to one side (for example, a point position 1 in fig. 5) in a visual field range of a first camera, and photographing the calibration workpiece through the first camera to obtain position information of the execution end of the first manipulator at the current moment;

(2) the execution end of the first manipulator respectively finishes M point locations (for example, point locations 2 to 4 in fig. 5) according to a preset track, and a calibrated workpiece is photographed by the first camera every time when one point location is finished, so as to obtain the position information of the execution end of the first manipulator at the current moment;

(3) and acquiring a first coordinate mapping relation according to the acquired M +1 pieces of position information.

It should be noted that, in actual implementation, the method for acquiring the first coordinate mapping relationship is not limited to the above three methods, but the above second alternative embodiment, that is, the embodiment shown in fig. 4, may be preferred.

Step S300, a second workpiece area corresponding to a second workpiece is determined from a second workpiece image, the coordinate position of the second workpiece in a second camera coordinate system is obtained according to the position information of the second workpiece area in the second workpiece image, and the second workpiece image is obtained by photographing the second workpiece through a second camera.

In the embodiment of the application, the second manipulator blindly grabs the second workpiece and moves to the visual field range of the second camera, so as to generate a photographing request instruction, and directly send the photographing request instruction to the second camera, or forward the photographing request instruction to the second camera through the product attaching device, after receiving the photographing request instruction, the second camera starts to operate, photographs the second workpiece, obtains an image of the second workpiece, and sends the image of the second workpiece to the product attaching device, so as to execute the step S300 through the product attaching device.

In the embodiment of the present application, a second workpiece region corresponding to the second workpiece may also be determined from the second workpiece image through an edge detection algorithm such as Robert, Sobel, Laplace, or the like. Thereafter, the coordinate position of the second workpiece in the second camera coordinate system is acquired based on the position information of the second workpiece area in the second workpiece image.

Step S400, obtaining a first target position of the second workpiece in the second robot coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, and obtaining a second target position of the second workpiece in the first robot coordinate system according to the first target position, where the second target position is a second current position of the second workpiece, or obtaining a first target position of the second workpiece in the second robot coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, where the first target position is the second current position.

In this embodiment of the application, a second coordinate mapping relationship between the second camera coordinate system and the second manipulator coordinate system may be combined, and a second current position of the second workpiece in the second manipulator coordinate system may be obtained according to a coordinate position of the second workpiece in the second camera coordinate system, where in this case, the first target position is the second current position.

For the manner of obtaining the second coordinate mapping relationship, the above description related to obtaining the first coordinate mapping relationship may be referred to, and details are not repeated here.

Of course, after the first target position of the second workpiece in the second robot coordinate system is obtained according to the coordinate position of the second workpiece in the second camera coordinate system, if there is a related requirement, a second target position of the second workpiece in the first robot coordinate system may also be obtained according to the first target position in combination with a third coordinate mapping relationship between the first robot coordinate system and the second robot coordinate system, in this case, the second target position is the second current position.

And S500, if the second target position is the second current position, controlling the first manipulator to correct the deviation of the first workpiece according to the first current position and the second current position so as to realize the alignment fitting of the first workpiece and the second workpiece, if the first target position is the second current position, controlling the first manipulator to correct the deviation of the first workpiece according to the first current position, and controlling the second manipulator to correct the deviation of the second workpiece according to the second current position so as to realize the alignment fitting of the first workpiece and the second workpiece.

It should be noted that, in the embodiment of the present application, before step S500 is executed, the first robot rotation center position, the second robot rotation center position, the first robot template, the second robot template, the first camera template, and the second camera template, that is, the information shown in table 1, need to be acquired.

TABLE 1

It should be noted that, in the embodiment of the present application, the position of the rotation center of the first manipulator, the position of the rotation center of the second manipulator, the first manipulator template, the second manipulator template, the first camera template, and the second camera template may all be obtained in a system debugging stage by using an existing visual technology, which is not limited in the embodiment of the present application.

Further, in this embodiment of the application, when the second target position is the second current position, that is, the second current position is position information of the second workpiece converted into the coordinate system of the first manipulator, the step S500 of controlling the first manipulator to perform deviation rectification on the first workpiece according to the first current position and the second current position to achieve alignment and bonding of the first workpiece and the second workpiece may include the steps S510 and S520.

Step S510, a first deviation correction amount for the first workpiece is calculated according to the first current position and the second current position.

And S520, sending the first deviation correction amount to the first manipulator, so that the first manipulator corrects the deviation of the first workpiece according to the first deviation correction amount, and aligning and attaching the first workpiece and the second workpiece.

Referring to fig. 6, regarding step S510, in this embodiment, as an alternative implementation manner, a first deviation correction amount for the first workpiece may be calculated through the following steps, and the process executed in step S510 is based on the first robot coordinate system.

(1) And according to the first current position, the position of the rotation center of the first manipulator and the first angle deviation between the first manipulator template and the second manipulator template, acquiring a third current position of the first workpiece when the angle of the first manipulator template is corrected to be consistent with the angle of the second manipulator template.

As shown in fig. 6, the first current position is characterized as (p.x, p.y).

A first angular deviation between the first manipulator template and the second manipulator template:

△R1＝Pr2.R-Pr.R

where Δ R1 is the first angular deviation, pr2.R is the offset angle of the first manipulator template in the first manipulator coordinate system, and pr.r is the offset angle of the second manipulator template in the first machine coordinate system.

And then, acquiring a third current position of the first workpiece when the angle of the first manipulator template is corrected to be consistent with the angle of the second manipulator template through the following logic calculation formula:

P11.X＝(P.X-Pc.X)*cos(△R1)-(P.Y-Pc.Y)*sin(△R1)+Pc.X

P11.Y＝(P.X-Pc.X)*sin(△R1)+(P.Y-Pc.Y)*cos(△R1)+Pc.Y

where, (p11.x, p11.y) is the third current position, (p.x, p.y) is the first current position, (pc.x, pc.y) is the first manipulator rotation center position, and Δ R1 is the first angular deviation.

(2) And acquiring a fourth current position of the first workpiece in the coordinate axis of the first manipulator when the rotation center of the first manipulator is translated to coincide with the rotation center of the second manipulator according to the third current position, the rotation center position of the first manipulator and the rotation center position of the second manipulator.

The fourth current position is obtained by the following logical calculation formula:

P22.X＝P11.X+Pc2.X-Pc.X

P22.Y＝P11.Y+Pc2.Y-Pc.Y

where, (p22.x, p22.y) is the fourth current position, (p11.x, p11.y) is the third current position, (pc.x, pc.y) is the first robot rotation center position, and (pc2.x, pc2.y) is the second robot rotation center position.

(3) And acquiring a fifth current position of the first workpiece in the coordinate system of the first manipulator when the first workpiece is corrected from the fourth current position to the position consistent with the angle of the second camera template according to the fourth current position, the second camera template and the second angle deviation between the first camera template and the first current position.

As shown in fig. 6, a second angular deviation between the first camera template and the first current position:

△R2＝Pm.R-P.R

where Δ R2 is the second angular deviation, pm.r is the offset angle of the first camera template in the first manipulator coordinate system, and P.R is the offset angle of the first current position in the first mechanical coordinate system.

And then, acquiring a fifth current position of the first workpiece in the first manipulator coordinate system when the first workpiece is corrected from the fourth current position to be consistent with the angle of the second camera template through the following logic calculation formula:

P33.X＝(P22.X–Pc2.X)*cos(△R2)-(P22.Y–Pc2.Y)*sin(△R2)+Pc2.X

P33.Y＝(P22.X–Pc2.X)*sin(△R2)+(P22.Y–Pc2.Y)*cos(△R2)+Pc2.Y

where, (p33.x, p33.y) is the fifth current position, (p22.x, p22.y) is the fourth current position, (pc2.x, pc2.y) is the second robot rotation center position, and Δ R2 is the second angular deviation.

(4) And acquiring a sixth current position of the first workpiece in the coordinate system of the first manipulator when the second camera template is corrected to be consistent with the angle of the second current position according to the fifth current position, the rotation center position of the second manipulator and the third angular deviation between the second current position and the second camera template.

As shown in fig. 6, the third angular deviation between the second current position and the second camera template:

△R3＝P2.R-Pm2.R

where Δ R3 is the third angular deviation, p2.R is the offset angle of the second current position in the first manipulator coordinate system, and pm2.R is the offset angle of the second camera template in the first mechanical coordinate system.

And then acquiring a sixth current position of the first workpiece in the coordinate system of the first manipulator when the second camera template is corrected to be consistent with the second current position angle through the following logic calculation formula:

P44.X＝(P33.X–Pc2.X)*cos(△R3)-(P33.Y–Pc2.Y)*sin(△R3)+Pc2.X

P44.Y＝(P33.X–Pc2.X)*sin(△R3)+(P33.Y–Pc2.Y)*cos(△R3)+Pc2.Y

where, (p44.x, p44.y) is the sixth current position, (p33.x, p33.y) is the fifth current position, (pc2.x, pc2.y) is the second robot rotation center position, and Δ R3 is the third angular deviation.

(5) And calculating a first deviation correction amount aiming at the first workpiece according to the second current position, the sixth current position, the second angle deviation and the third angle deviation.

△X11＝P2.X–P44.X

△Y11＝P2.Y–P44.Y

△R11＝△R2+△R3

Where Δ X11, Δ Y11, and Δ R11 are first correction amounts, (p2.X, p2.Y) are second current positions, p44.X, p44.Y) are sixth current positions, Δ R2 is a second angle deviation, and Δ R3 is a third angle deviation.

After the first deviation correcting amount is obtained, the first manipulator corrects the deviation of the first workpiece according to the first deviation correcting amount, so that the first workpiece and the second workpiece are aligned and attached, namely, the deviation correcting action is executed by the first manipulator under the condition that the second current position is the position information of the second workpiece converted into the coordinate system of the first manipulator.

Of course, the deviation rectifying action may also be executed by the first manipulator and the second manipulator in a matching manner, at this time, when the first target position is the second current position, that is, the second current position is the position information in the coordinate system of the second manipulator, then, in step S500, "control the first manipulator to rectify the deviation of the first workpiece according to the first current position, and control the second manipulator to rectify the deviation of the second workpiece according to the second current position, so as to implement the alignment and bonding of the first workpiece and the second workpiece" may include step S530, step S540, and step S550.

Step S530, a second deviation correction amount for the first workpiece is calculated according to the first current position.

In step S540, a third offset amount for the second workpiece is calculated according to the second current position.

And S550, sending the second deviation correcting amount to the first manipulator, and sending the third deviation correcting amount to the second manipulator, so that the first manipulator corrects the deviation of the first workpiece according to the second deviation correcting amount, and the second manipulator corrects the deviation of the second workpiece according to the third deviation correcting amount, thereby realizing alignment and fitting of the first workpiece and the second workpiece.

Referring to fig. 7, regarding step S530, in this embodiment, as an alternative implementation manner, the second deviation correction amount for the first workpiece may be calculated through the following steps, and the process executed in step S530 is based on the first robot coordinate system.

(1) And acquiring a seventh current position of the first workpiece when the angle of the first manipulator template is corrected to be consistent with the angle of the second manipulator template according to the first current position, the rotation center position of the first manipulator and the fourth angular deviation between the first manipulator template and the second manipulator template.

As shown in fig. 7, the first current position is characterized as (p.x, p.y).

A fourth angular deviation between the first manipulator template and the second manipulator template:

△R4＝Pr2.R-Pr.R

where Δ R4 is the fourth angular deviation, pr2.R is the offset angle of the first manipulator template in the first manipulator coordinate system, and pr.r is the offset angle of the second manipulator template in the first mechanical coordinate system.

And then, acquiring a seventh current position of the first workpiece when the angle of the first manipulator template is corrected to be consistent with the angle of the second manipulator template through the following logic calculation formula:

P55.X＝(P.X-Pc.X)*cos(△R4)-(P.Y-Pc.Y)*sin(△R4)+Pc.X

P55.Y＝(P.X-Pc.X)*sin(△R4)+(P.Y-Pc.Y)*cos(△R4)+Pc.Y

where, (p55.x, p55.y) is the seventh current position, (p.x, p.y) is the first current position, (pc.x, pc.y) is the first manipulator rotation center position, and Δ R4 is the fourth angle deviation.

(2) And acquiring an eighth current position of the first workpiece when the first workpiece is corrected from the seventh current position to be consistent with the angle of the first camera template according to the seventh current position, the rotation center position of the first manipulator and the fifth angle deviation between the first camera template and the first current position.

As shown in fig. 7, a fifth angular deviation between the first camera template and the first current position:

△R5＝Pm.R-P.R

where Δ R5 is a fifth angle deviation, pm.r is a deviation angle of the first camera template in the first manipulator coordinate system, and P.R is a deviation angle of the first current position in the first mechanical coordinate system. And then acquiring an eighth current position of the first workpiece when the first workpiece is corrected from the seventh current position to be consistent with the angle of the first camera template through the following logic calculation formula:

P66.X＝(P55.X-Pc.X)*cos(△R5)-(P55.Y-Pc.Y)*sin(△R5)+Pc.X

P66.Y＝(P55.X-Pc.X)*sin(△R5)+(P55.Y-Pc.Y)*cos(△R5)+Pc.Y

where, (p66.x, p66.y) is the eighth current position, (p55.x, p55.y) is the seventh current position, (pc.x, pc.y) is the first manipulator rotation center position, and Δ R5 is the fifth angle deviation.

(3) And acquiring a ninth current position of the first workpiece in a coordinate system of the first manipulator when the angle of the first camera template is corrected to be consistent with the angle of the second camera template according to the rotation center position and the fourth angle deviation of the first camera template, the first manipulator and the fourth manipulator.

The ninth current position is obtained by the following logical calculation formula:

P77.X＝(Pm.X-Pc.X)*cos(△R4)-(Pm.Y-Pc.Y)*sin(△R4)+Pc.X

P77.Y＝(Pm.X-Pc.X)*sin(△R4)+(Pm.Y-Pc.Y)*cos(△R4)+Pc.Y

wherein, (p77.x, p77.y) is a ninth current position, (pm.x, pm.y) the first camera template, (pc.x, pc.y) is a rotational center position of the first manipulator, and Δ R4 is a fourth angle deviation.

(4) And calculating a second deviation correction amount for the first workpiece according to the ninth current position and the fifth angle deviation.

△X22＝P77.X–P66.X

△Y22＝P77.Y–P66.Y

△R22＝△R5

Where Δ X22, Δ Y22, and Δ R22 are second correction amounts, (p77.X, p77.Y) are ninth current positions, (p66.X, p66.Y) are eighth current positions, and Δ R5 is a fifth angle deviation.

Referring to fig. 8, regarding step S540, in this embodiment, as an alternative implementation manner, the third offset amount for the second workpiece may be calculated through the following steps, and the process executed in step S540 is based on the second robot coordinate system.

(1) And acquiring a tenth current position of the second workpiece when the first workpiece is corrected from the second current position to be consistent with the angle of the second camera template according to the second current position, the rotation center position of the second manipulator and the sixth angle deviation between the second camera template and the second current position.

As shown in fig. 8, the second current position is characterized as (p2.x, p2. y).

A sixth degree deviation between the second camera template and the second current position:

△R6＝Pm2.R-P2.R

where Δ R6 is the sixth degree deviation, pm2.R is the offset angle of the second camera template in the second robot coordinate system, and p2.R is the offset angle of the second current position in the second machine coordinate system.

Then, acquiring a tenth current position of the second workpiece when the first workpiece is corrected from the second current position to be consistent with the angle of the second camera template through the following logic calculation formula:

P88.X＝(P2.X–Pc2.X)*cos(△R6)-(P2.Y-Pc2.Y)*sin(△R6)+Pc2.X

P88.Y＝(P2.X-Pc2.X)*sin(△R6)+(P2.Y–Pc2.Y)*cos(△R6)+Pc2.Y

where, (p88.x, p88.y) is the tenth current position, (p2.x, p2.y) is the second current position, (pc2.x, pc2.y) is the second robot rotation center position, and Δ R6 is the sixth angle deviation.

(2) And calculating a third offset for the second workpiece according to the second camera template, the tenth current position and the sixth angle deviation.

△X33＝Pm2.X–P88.X

△Y33＝Pm2.Y–P88.Y

△R33＝△R6

Where Δ X33, Δ Y33, and Δ R33 are third deviation correction amounts, (pm2.X, pm2.Y) of the second camera template, (p88.X, p88.Y) is the tenth current position, and Δ R6 is the sixth angle deviation.

After the second deviation correction amount and the third deviation correction amount are obtained, the first manipulator corrects the deviation of the first workpiece according to the second deviation correction amount, meanwhile, the second manipulator corrects the deviation of the second workpiece according to the third deviation correction amount, and alignment and attachment of the first workpiece and the second workpiece are achieved.

Based on the same inventive concept as the product attaching method, the embodiment of the present application further provides a product attaching device 200. Referring to fig. 9, a product bonding apparatus 200 according to an embodiment of the present disclosure includes a first position obtaining module 210, a second position obtaining module 220, a third position obtaining module 230, a fourth position obtaining module 240, and a deviation rectifying module 250.

The first position obtaining module 210 is configured to determine a first workpiece area corresponding to the first workpiece from the first workpiece image, and obtain a coordinate position of the first workpiece in a first camera coordinate system according to position information of the first workpiece area in the first workpiece image, where the first workpiece image is obtained by taking a picture of the first workpiece through the first camera.

The second position obtaining module 220 is configured to obtain a first current position of the first workpiece in the first robot coordinate system according to the coordinate position of the first workpiece in the first camera coordinate system.

The third position obtaining module 230 is configured to determine a second workpiece area corresponding to the second workpiece from the second workpiece image, and obtain a coordinate position of the second workpiece in the second camera coordinate system according to position information of the second workpiece area in the second workpiece image, where the second workpiece image is obtained by taking a picture of the second workpiece through the second camera.

The fourth position obtaining module 240 is configured to obtain a first target position of the second workpiece in the second robot coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, and obtain a second target position of the second workpiece in the first robot coordinate system according to the first target position, where the second target position is a second current position of the second workpiece, or obtain a first target position of the second workpiece in the second robot coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, where the first target position is the second current position.

And the deviation correcting calculation module 250 is configured to control the first manipulator to correct the deviation of the first workpiece according to the first current position and the second current position when the second target position is the second current position, so as to implement alignment and attachment of the first workpiece and the second workpiece, control the first manipulator to correct the deviation of the first workpiece according to the first current position when the first target position is the second current position, and control the second manipulator to correct the deviation of the second workpiece according to the second current position, so as to implement alignment and attachment of the first workpiece and the second workpiece.

In the embodiment of the present application, the deviation rectifying module 250 may include a first deviation rectifying amount calculating unit and a first deviation rectifying control unit.

And the first deviation correction amount calculation unit is used for calculating a first deviation correction amount aiming at the first workpiece according to the first current position and the second current position.

And the first deviation rectifying control unit is used for sending the first deviation rectifying amount to the first manipulator so that the first manipulator rectifies the deviation of the first workpiece according to the first deviation rectifying amount, and alignment and lamination of the first workpiece and the second workpiece are realized.

In the embodiment of the present application, the first deviation-rectifying calculating unit may include a first position calculating unit, a second position calculating unit, a third position calculating unit, a fourth position calculating unit, and a first deviation-rectifying meter sub-calculating unit.

And the first position calculation unit is used for acquiring a third current position of the first workpiece when the angle of the first manipulator template is corrected to be consistent with the angle of the second manipulator template according to the first current position, the position of the rotation center of the first manipulator and the first angle deviation between the first manipulator template and the second manipulator template.

And the second position calculation unit is used for acquiring a fourth current position of the first workpiece in the coordinate axis of the first manipulator when the rotation center of the first manipulator is translated to coincide with the rotation center of the second manipulator according to the third current position, the rotation center position of the first manipulator and the rotation center position of the second manipulator.

And the third position calculation unit is used for acquiring a fifth current position of the first workpiece in the coordinate system of the first manipulator when the first workpiece is corrected from the fourth current position to be consistent with the angle of the second camera template according to the fourth current position, the second camera template and the second angle deviation between the first camera template and the first current position.

And the fourth position calculation unit is used for acquiring a sixth current position of the first workpiece in the coordinate system of the first manipulator when the second camera template is corrected to be consistent with the second current position according to the fifth current position, the rotation center position of the second manipulator and the third angle deviation between the second current position and the second camera template.

And the first deviation-correcting amount calculation subunit is used for calculating a first deviation-correcting amount aiming at the first workpiece according to the second current position, the sixth current position, the second angle deviation and the third angle deviation.

In the embodiment of the present application, the deviation rectifying module 250 may include a second deviation rectifying amount calculating unit, a third deviation rectifying amount calculating unit, and a second deviation rectifying control unit.

And the second deviation correction amount calculation unit is used for calculating a second deviation correction amount aiming at the first workpiece according to the first current position.

And the third deviation-correcting amount calculating unit is used for calculating a third deviation amount aiming at the second workpiece according to the second current position.

And the second deviation rectifying control unit is used for sending the second deviation rectifying amount to the first manipulator and sending the third deviation rectifying amount to the second manipulator so that the first manipulator can rectify the deviation of the first workpiece according to the second deviation rectifying amount, and the second manipulator can rectify the deviation of the second workpiece according to the third deviation rectifying amount to realize the alignment and the fitting of the first workpiece and the second workpiece.

In an embodiment of the present application, the second deviation-correcting amount calculating unit may include a fifth position calculating unit, a sixth position calculating unit, a seventh position calculating unit, and a second deviation-correcting calculating subunit.

And the fifth position calculation unit is used for acquiring a seventh current position of the first workpiece when the angle of the first manipulator template is corrected to be consistent with the angle of the second manipulator template according to the first current position, the rotation center position of the first manipulator and the fourth angle deviation between the first manipulator template and the second manipulator template.

And the sixth position calculating unit is used for acquiring an eighth current position of the first workpiece when the angle of the first workpiece is corrected to be consistent with the angle of the first camera template from the seventh current position according to the seventh current position, the rotation center position of the first manipulator and the fifth angle deviation between the first camera template and the first current position.

And the seventh position calculating unit is used for acquiring a ninth current position of the first workpiece in the coordinate system of the first manipulator when the angle of the first camera template is corrected to be consistent with the angle of the second camera template according to the first camera template, the rotation center position of the first manipulator and the fourth angle deviation.

And the second deviation rectifying calculation subunit is used for calculating a second deviation rectifying amount aiming at the first workpiece according to the ninth current position and the fifth angle deviation.

In an embodiment of the present application, the third deviation rectifying amount calculating unit may include an eighth position calculating unit and a third deviation rectifying calculating subunit.

And the eighth position calculating unit is used for acquiring the tenth current position of the second workpiece when the first workpiece is corrected from the second current position to be consistent with the angle of the second camera template according to the second current position, the rotation center position of the second manipulator and the hexagonal deviation between the second camera template and the second current position.

And the third deviation rectifying calculation subunit is used for calculating a third offset for the second workpiece according to the second camera template, the tenth current position and the sixth angle deviation.

Since the product attaching device 200 provided in the embodiment of the present application is implemented based on the same inventive concept as the product attaching method, specific descriptions of each software module in the product attaching device 200 can be referred to the related descriptions of the corresponding steps in the embodiment of the product attaching method, and are not described herein again.

Referring to fig. 10, a product bonding system 300 according to an embodiment of the present disclosure includes a first camera 310, a second camera 320, a first robot 330, a second robot 340, and a product bonding apparatus according to a third aspect, wherein the first camera 310, the second camera 320, the first robot 330, and the second robot 340 are respectively connected to the product bonding apparatus.

The product laminating equipment is used for:

a first workpiece area corresponding to the first workpiece is determined from the first workpiece image, the coordinate position of the first workpiece in a first camera coordinate system is obtained according to the position information of the first workpiece area in the first workpiece image, and the first workpiece image is obtained by photographing the first workpiece through the first camera 310.

And acquiring a first current position of the first workpiece in the first manipulator coordinate system according to the coordinate position of the first workpiece in the first camera coordinate system.

And determining a second workpiece area corresponding to the second workpiece from the second workpiece image, acquiring the coordinate position of the second workpiece in a second camera coordinate system according to the position information of the second workpiece area in the second workpiece image, and photographing the second workpiece through the second camera 320 to acquire the second workpiece image.

And acquiring a first target position of the second workpiece in the second manipulator coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, and acquiring a second target position of the second workpiece in the first manipulator coordinate system according to the first target position, wherein the second target position is a second current position of the second workpiece, or acquiring a first target position of the second workpiece in the second manipulator coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, wherein the first target position is a second current position.

If the second target position is the second current position, the first manipulator 330 is controlled to correct the deviation of the first workpiece according to the first current position and the second current position so as to realize the alignment and lamination of the first workpiece and the second workpiece, if the first target position is the second current position, the first manipulator 330 is controlled to correct the deviation of the first workpiece according to the first current position, and the second manipulator 340 is controlled to correct the deviation of the second workpiece according to the second current position so as to realize the alignment and lamination of the first workpiece and the second workpiece.

Since the product attaching system 300 provided in the embodiment of the present application is implemented based on the same inventive concept as the product attaching method, specific descriptions of each component in the product attaching system 300 can be referred to the related descriptions of the corresponding steps in the embodiment of the product attaching method, and are not described herein again.

In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the product attaching method provided in the foregoing method embodiment is implemented, which may be specifically referred to in the foregoing method embodiment, and details of this are not described in this embodiment of the present application.

In summary, in the implementation process of the product attaching method provided in the embodiment of the present application, since the first workpiece image is obtained by taking a picture of the first workpiece with the first camera alone, and the second workpiece image is obtained by taking a picture of the second workpiece with the second camera alone, the photographing operation can be completed in a small field of view, and compared with a scheme of taking a picture of the first workpiece and the second workpiece with a single camera simultaneously, the positioning accuracy of the first workpiece and the second workpiece can be improved, and finally, the alignment attaching accuracy of the first workpiece and the second workpiece is improved, on the other hand, if the second target position is the second current position, the first mechanical arm is controlled to correct the position of the first workpiece according to the first current position and the second current position, so as to achieve the alignment attaching of the first workpiece and the second workpiece, and if the first target position is the second current position, then according to first current position, control first manipulator and rectify a deviation to first work piece, and according to second current position, control second manipulator and rectify a deviation to the second work piece to realize the counterpoint laminating of first work piece and second work piece, consequently, for prior art, the debugging work load is less, the debugging time is shorter, consequently, can improve counterpoint laminating efficiency.

Further, in the implementation process of the product attaching method provided by the embodiment of the application, when the first deviation correction amount for the first workpiece is calculated according to the first current position and the second current position, the adopted specific deviation correction strategy is simplified, and similarly, when the second deviation correction amount for the first workpiece is calculated according to the first current position and the third deviation amount for the second workpiece is calculated according to the second current position, the adopted specific deviation correction strategy is simplified, so that the debugging time can be further reduced, and the alignment attaching efficiency of the first workpiece and the second workpiece is improved.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based devices that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of each embodiment of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a random access memory RAM, a magnetic disk or an optical disk.

The above embodiments are merely examples of the present application and are 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. 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.

Furthermore, it should be noted that in the embodiments of the present application, relational terms such as "first", "second", and "third", and the like are used only for distinguishing one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between the entities or operations. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Claims

1. A method of product attachment, comprising:

determining a first workpiece area corresponding to a first workpiece from a first workpiece image, and acquiring a coordinate position of the first workpiece in a first camera coordinate system according to position information of the first workpiece area in the first workpiece image, wherein the first workpiece image is acquired by photographing the first workpiece through a first camera;

acquiring a first current position of the first workpiece in a first manipulator coordinate system according to the coordinate position of the first workpiece in the first camera coordinate system;

determining a second workpiece area corresponding to a second workpiece from a second workpiece image, and acquiring a coordinate position of the second workpiece in a second camera coordinate system according to position information of the second workpiece area in the second workpiece image, wherein the second workpiece image is obtained by photographing the second workpiece through a second camera;

acquiring a first target position of the second workpiece in a second manipulator coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, and acquiring a second target position of the second workpiece in the first manipulator coordinate system according to the first target position, wherein the second target position is a second current position of the second workpiece, or acquiring a first target position of the second workpiece in the second manipulator coordinate system according to the coordinate position of the second workpiece in the second camera coordinate system, and the first target position is the second current position;

if the second target position is the second current position, controlling a first manipulator to correct the deviation of the first workpiece according to the first current position and the second current position so as to achieve alignment and lamination of the first workpiece and the second workpiece, if the first target position is the second current position, controlling the first manipulator to correct the deviation of the first workpiece according to the first current position, and controlling a second manipulator to correct the deviation of the second workpiece according to the second current position so as to achieve alignment and lamination of the first workpiece and the second workpiece.

2. The product attaching method according to claim 1, wherein the controlling a first robot to perform deviation correction on the first workpiece according to the first current position and the second current position so as to achieve alignment attaching of the first workpiece and the second workpiece comprises:

calculating a first deviation correction amount for the first workpiece according to the first current position and the second current position;

and sending the first deviation correction amount to a first manipulator, so that the first manipulator corrects the deviation of the first workpiece according to the first deviation correction amount, and the first workpiece and the second workpiece are aligned and attached.

3. The product laminating method of claim 2, wherein the calculating a first correction amount for the first workpiece from the first current position and the second current position comprises:

according to the fourth current position, the second camera template and a second angle deviation between the first camera template and the first current position, acquiring a fifth current position of the first workpiece in the first manipulator coordinate system when the first workpiece is corrected from the fourth current position to be consistent with the angle of the second camera template;

according to the fifth current position, the rotation center position of the second manipulator and a third angle deviation between the second current position and the second camera template, acquiring a sixth current position of the first workpiece in the coordinate system of the first manipulator when the second camera template is corrected to be consistent with the second current position angle;

and calculating a first deviation correction amount for the first workpiece according to the second current position, the sixth current position, the second angle deviation and the third angle deviation.

4. The product bonding method of claim 1, wherein the controlling a first robot to perform deviation correction on the first workpiece according to the first current position and controlling a second robot to perform deviation correction on the second workpiece according to the second current position to achieve alignment bonding of the first workpiece and the second workpiece comprises:

calculating a second deviation correction amount for the first workpiece according to the first current position;

and sending the second deviation rectifying amount to the first manipulator, and sending the third deviation rectifying amount to the second manipulator, so that the first manipulator rectifies the first workpiece according to the second deviation rectifying amount, and the second manipulator rectifies the second workpiece according to the third deviation rectifying amount, so that the first workpiece and the second workpiece are aligned and attached.

5. The product fitting method according to claim 4, wherein the calculating a second deviation correction amount for the first workpiece according to the first current position includes:

acquiring an eighth current position of the first workpiece when the angle of the first workpiece is corrected to be consistent with the angle of the first camera template from the seventh current position according to the seventh current position, the rotation center position of the first manipulator and a fifth angle deviation between the first camera template and the first current position;

acquiring a ninth current position of the first workpiece in the first manipulator coordinate system when the angle of the first camera template is corrected to be consistent with the angle of the second camera template according to the first camera template, the rotation center position of the first manipulator and the fourth angle deviation;

6. The product pasting method of claim 4, wherein calculating a third offset for the second workpiece based on the second current position comprises:

according to the second current position, the rotation center position of the second manipulator and the hexagonal deviation between the second camera template and the second current position, acquiring a tenth current position of the second workpiece when the first workpiece is corrected from the second current position to be consistent with the angle of the second camera template;

and calculating a third offset for the second workpiece according to the second camera template, the tenth current position and the sixth angular deviation.

7. A product laminating device, characterized by, includes:

the first position acquisition module is used for determining a first workpiece area corresponding to a first workpiece from a first workpiece image, acquiring the coordinate position of the first workpiece in a first camera coordinate system according to the position information of the first workpiece area in the first workpiece image, and taking a picture of the first workpiece through a first camera to obtain the first workpiece image;

the second position acquisition module is used for acquiring a first current position of the first workpiece in a first manipulator coordinate system according to the coordinate position of the first workpiece in the first camera coordinate system;

the third position acquisition module is used for determining a second workpiece area corresponding to a second workpiece from a second workpiece image, acquiring the coordinate position of the second workpiece in a second camera coordinate system according to the position information of the second workpiece area in the second workpiece image, and taking a picture of the second workpiece through a second camera to acquire the second workpiece image;

a fourth position obtaining module, configured to obtain a first target position of the second workpiece in a second manipulator coordinate system according to a coordinate position of the second workpiece in the second camera coordinate system, and obtain a second target position of the second workpiece in the first manipulator coordinate system according to the first target position, where the second target position is a second current position of the second workpiece, or obtain a first target position of the second workpiece in the second manipulator coordinate system according to a coordinate position of the second workpiece in the second camera coordinate system, where the first target position is the second current position;

and the deviation rectifying calculation module is used for controlling a first manipulator to rectify the deviation of the first workpiece according to the first current position and the second current position when the second target position is the second current position so as to realize the alignment and the lamination of the first workpiece and the second workpiece, controlling the first manipulator to rectify the deviation of the first workpiece according to the first current position when the first target position is the second current position, and controlling a second manipulator to rectify the deviation of the second workpiece according to the second current position so as to realize the alignment and the lamination of the first workpiece and the second workpiece.

8. A product attaching device, characterized by comprising a processor and a memory, wherein the memory is stored with a computer program, and the processor is used for executing the computer program to realize the product attaching method according to any one of claims 1 to 6.

9. A product bonding system comprising a first camera, a second camera, a first manipulator, a second manipulator, and the product bonding apparatus of claim 8, the first camera, the second camera, the first manipulator, and the second manipulator being respectively connected to the product bonding apparatus;

the product laminating equipment is used for:

10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the product pasting method according to any one of claims 1 to 6.