Flying positioning device, method, apparatus and storage medium

Abstract

The present application provides a flying positioning device, method, apparatus and storage medium, the flying positioning device comprising: a camera mechanism; a material transporting piece, which is arranged opposite to the camera mechanism and can move along a preset trajectory; a nozzle head, which is arranged on the side of the material transporting piece facing the camera mechanism, moves with the material transporting piece, and a positioning mark is provided on the adsorption surface of the nozzle head; the adsorption surface is within the shooting range of the camera mechanism, the camera mechanism shoots the adsorption surface with the material adsorbed, and the flying positioning device determines the position of the material according to the positioning mark. By setting the positioning mark on the adsorption surface of the flying positioning device, the positioning mark is also photographed when the image of the adsorption surface of the adsorbed material is photographed, so that the flying positioning device can accurately locate the material according to the image. In this way, the image of the material can be captured during the high-speed material loading and unloading process, and the control accuracy requirements for the exposure time of the camera mechanism can be reduced, allowing the camera mechanism to have a larger delay range, and still achieve accurate positioning of the material.

Description

Technical Field

[0001] The present application relates to the field of automation, for example, to a flying positioning device, method, apparatus and storage medium. Background Art

[0002] In the automated production process, material positioning and adjustment during automated material transportation is a very important link. At present, there are two main ways to position materials: the object to be tested is stationary in the field of view of the camera mechanism, and the position information of the object to be tested is obtained; and the object to be tested passes through the field of view of the camera mechanism during flight, and the camera mechanism locates the object to be tested by precisely controlling the exposure time. The former method cannot meet the needs of high-speed material handling because it requires the camera mechanism or the object to be tested to move and stop relative to each other; the latter method is a flying shot, and the accuracy of controlling the exposure time of the camera mechanism, the response delay of the camera mechanism, and the speed of flight will directly affect the position of the object to be tested in the field of view of the camera mechanism, and thus affect the accuracy of positioning. Therefore, it is difficult for traditional positioning methods to simultaneously meet the requirements of high-speed material handling and precise positioning. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a flying positioning device, method, apparatus and storage medium that can simultaneously meet the requirements of high-speed material loading and unloading and precise positioning.

[0004] In order to achieve the above purpose, the embodiments of the present application are implemented in the following manner:

[0005] In the first aspect, an embodiment of the present application provides a flying positioning device, comprising: a camera mechanism; a material transport piece, which is arranged opposite to the camera mechanism and can move along a preset trajectory; a suction nozzle head, which is arranged on the side of the material transport piece facing the camera mechanism and moves with the material transport piece, and a positioning mark is provided on the adsorption surface of the suction nozzle head; wherein the adsorption surface is within the shooting range of the camera mechanism, the camera mechanism shoots the adsorption surface with material adsorbed, and the flying positioning device determines the position of the material according to the positioning mark.

[0006] By setting a positioning mark on the adsorption surface of the flying positioning device, the positioning mark can be captured when the camera captures the image of the adsorption surface of the adsorbed material, so that the flying positioning device can accurately locate the material according to the positioning mark in the image. Such a flying positioning device can capture images of materials during high-speed material loading and unloading, and can reduce the control accuracy requirements for the exposure time of the camera, allowing the camera to have a larger delay range, while still being able to achieve accurate positioning of the material.

[0007] In combination with the first aspect, in a first possible implementation manner of the first aspect, the positioning mark includes: a contour mark, which is arranged on the adsorption surface, and a contour formed by the contour mark on the adsorption surface is consistent with a contour of the material.

[0008] By setting a contour mark consistent with the material contour on the adsorption surface, the location of the material can be quickly identified.

[0009] In combination with the first aspect, in a second possible implementation of the first aspect, the adsorption surface is a rectangle, and the positioning mark includes: a vertex mark, which is set at each vertex on the adsorption surface, and a range formed by connecting the vertex marks in sequence is larger than the outline of the material.

[0010] Vertex marks are set at the vertices on the adsorption surface. By positioning the vertex marks, the positioning of the material can be assisted, and the vertex marks can assist in adjusting the position offset of the material in various directions.

[0011] In combination with the first aspect, or in combination with any possible implementation of the first aspect to the second aspect, in a third possible implementation of the first aspect, the flying positioning device also includes: an illumination light source, which provides illumination for the adsorption surface to facilitate the camera mechanism to photograph the adsorption surface.

[0012] By setting up an illumination light source, the adsorption surface can be illuminated, which makes it easier for the camera mechanism to shoot the adsorption surface, so that the quality of the shot image is stable and reliable, thereby further ensuring the positioning effect of the material.

[0013] In combination with the third possible implementation of the first aspect, in a fourth possible implementation of the first aspect, the camera mechanism includes: a body and a lens, the lens is detachably connected to the body, and the field of view of the lens includes the nozzle head to photograph the adsorption surface with the material adsorbed thereon.

[0014] In this implementation, the camera mechanism includes a body and a lens, which can stabilize the focal length at a fixed distance, thereby capturing an image with a stable depth of field, further ensuring accurate positioning of the material by recognizing the image.

[0015] In combination with the first aspect, or in combination with any possible implementation of the first aspect from the first to the second, in a fifth possible implementation of the first aspect, the flying positioning device further includes: a trigger member, which is connected to the camera mechanism, and when the trigger member detects that the material transport member moves along the preset trajectory to the preset section, the trigger member triggers the camera mechanism to photograph the adsorption surface on which the material is adsorbed.

[0016] By setting a trigger, the camera mechanism is triggered to shoot when it detects that the material transport part moves along the preset trajectory to the preset section. This can stably control the shooting time of the camera mechanism, thereby ensuring the quality of the image and facilitating the accurate positioning of the material.

[0017] In the second aspect, an embodiment of the present application provides a flying positioning device, comprising: a camera; a material transport mechanism, which is arranged opposite to the camera and can move along a preset trajectory; an auxiliary positioning member, which is arranged on the side of the material transport mechanism facing the camera; wherein the material transport mechanism is within the shooting range of the camera, the camera shoots the material transport mechanism carrying the material, and the flying positioning device determines the position of the material according to the auxiliary positioning member.

[0018] Through such a flying positioning device, it is possible to capture images of materials during high-speed material loading and unloading, and the control accuracy requirements for the camera exposure time can be reduced, allowing the camera to have a larger delay range, while still being able to accurately position the materials. In addition, since the auxiliary positioning parts can be set on the material transport mechanism, they can be coordinated with existing equipment to achieve accurate positioning of materials, which can save resources.

[0019] In conjunction with the second aspect, in a first possible implementation manner of the second aspect, the material transport mechanism includes:

[0020] A material transporting piece and a suction nozzle head, wherein the material transporting piece moves along the preset track; the suction nozzle head is arranged on a side of the material transporting piece facing the camera, and comprises an adsorption surface for adsorbing materials; and the auxiliary positioning piece is arranged on the adsorption surface.

[0021] By arranging an auxiliary positioning piece on the adsorption surface, the position of the material and the auxiliary positioning piece can be made close, which is conducive to the accurate positioning of the material.

[0022] In combination with the first possible implementation of the second aspect, in a second possible implementation of the second aspect, the adsorption surface is a rectangle, the auxiliary positioning member is arranged at each vertex of the rectangle, and the range formed by connecting the auxiliary positioning members in sequence is larger than the outline of the material.

[0023] By arranging an auxiliary positioning piece at the vertex on the adsorption surface and positioning the auxiliary positioning piece at the vertex, the positioning of the material can be achieved, and the auxiliary positioning piece can assist in adjusting the position deviation of the material in various directions.

[0024] In combination with the first possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, the adsorption surface is rectangular, and the auxiliary positioning member includes:

[0025] An outer contour positioning member and an inner contour positioning member, wherein the inner contour positioning member is arranged on the adsorption surface, and the contour formed by the inner contour positioning member on the adsorption surface is consistent with the contour of the material; the outer contour positioning member is arranged at each vertex of the rectangle to assist the flying positioning device in positioning the material adsorbed on the adsorption surface.

[0026] By simultaneously providing the outer contour positioning member and the inner contour positioning member, accurate positioning of the material and precise adjustment of the material position can be achieved.

[0027] In a third aspect, an embodiment of the present application provides a flying positioning method, which is applied to the flying positioning device described in any one of the first aspect and the first to fifth possible implementations of the first aspect, and the method includes:

[0028] Control the camera mechanism to shoot the adsorption surface with the material adsorbed thereon to obtain a positioning image; determine the mark position of the image of the positioning mark in the positioning image and the material position of the image of the material in the positioning image; determine the position difference according to the mark position and the material position; determine whether the position difference is greater than a preset threshold; if so, adjust the position of the material based on the position difference; if not, complete the flying positioning of the material this time.

[0029] By processing the captured positioning image, the position difference between the marking position of the positioning mark and the material position of the material is determined, so that it can be determined whether the material position is qualified, and the material position can be adjusted if it is unqualified. This method can easily and accurately determine whether the material position meets the requirements, and adjust the material position if it does not meet the requirements, thereby ensuring the normal operation of automated production.

[0030] In combination with the third aspect, in a first possible implementation manner of the third aspect, controlling the camera mechanism to photograph the adsorption surface on which the material is adsorbed to obtain a positioning image includes:

[0031] When it is detected that the material transporting member moves to a preset section along the preset trajectory, a shooting instruction is generated; the shooting instruction is sent to the camera mechanism, so that the camera mechanism executes a shooting action to obtain a positioning image of the adsorption surface containing the material adsorbed thereon.

[0032] By controlling the camera mechanism to capture the positioning image when it detects that the material transport piece has moved to the preset position, the acquired positioning image can have higher stability, and a technical basis is provided for the realization of flying positioning, so that the material can be positioned during high-speed material transportation.

[0033] In combination with the third aspect, in a second possible implementation manner of the third aspect, determining the mark position of the image of the positioning mark in the positioning image and the material position of the image of the material in the positioning image includes:

[0034] Determine the mark position of the image of the positioning mark in the positioning image; define a detection range including the image of the material in the positioning image according to the mark position; detect the image of the material within the detection range, and determine the position of the image of the material in the positioning image.

[0035] By defining the detection range of the material image according to the marked position, the detection rate can be accelerated and the efficiency of flying positioning can be improved.

[0036] In combination with the third aspect, in a third possible implementation manner of the third aspect, adjusting the position of the material based on the position difference includes:

[0037] An adjustment instruction is generated based on the position difference; and according to the adjustment instruction, the adsorption surface is adjusted to correct the position of the material.

[0038] By adjusting the position of the material according to the position difference between the material position and the marking position, the material position can be precisely controlled, so that the material position has a high degree of accuracy, thereby ensuring the normal progress of automated production.

[0039] In combination with the third aspect, in a fourth possible implementation of the third aspect, after the suction nozzle head places the material and before the suction nozzle head absorbs another material, the method further includes: adjusting the material transporting piece to return to an initial position.

[0040] In a fourth aspect, an embodiment of the present application provides a flying positioning device, comprising:

[0041] An acquisition module is used to control the camera structure to shoot the adsorption surface with the material adsorbed thereon to obtain a positioning image; a processing module is used to determine the mark position of the image of the positioning mark in the positioning image and the material position of the image of the material in the positioning image; and, according to the mark position and the material position, determine the position difference; a judgment module is used to judge whether the position difference is greater than a preset threshold; an adjustment module is used to adjust the position of the material based on the position difference when the position difference is greater than the preset threshold; the processing module is also used to complete the flying positioning of the material this time when the position difference is not greater than the preset threshold.

[0042] In a fifth aspect, an embodiment of the present application provides a storage medium, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the flying positioning method described in the third aspect or any one of the first to fourth possible implementation methods of the third aspect.

[0043] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A structural schematic diagram of a flying positioning device provided in an embodiment of the present application is shown.

[0046] Figure 2 A structural schematic diagram of a camera mechanism provided in an embodiment of the present application is shown.

[0047] Figure 3 A schematic diagram of an adsorption surface provided in an embodiment of the present application is shown.

[0048] Figure 4 A schematic diagram of another adsorption surface provided in an embodiment of the present application is shown.

[0049] Figure 5 A flow chart of a flying positioning method provided in an embodiment of the present application is shown.

[0050] Figure 6 A schematic diagram of a positioning image P1 provided in an embodiment of the present application is shown.

[0051] Figure 7 A schematic diagram of a positioning image P2 provided in an embodiment of the present application is shown.

[0052] Figure 8 A schematic diagram of adjusting the material position provided in an embodiment of the present application is shown.

[0053] Fig. 9 A structural block diagram of a flying positioning device provided in an embodiment of the present application is shown.

[0054] Fig.10 A structural schematic diagram of another flying positioning device provided in an embodiment of the present application is shown.

[0055] Fig.11 A schematic diagram showing an auxiliary positioning member provided in an embodiment of the present application being arranged on an adsorption surface is shown.

[0056] Icons: 100, 200-flying positioning equipment; 110-camera mechanism; 111-lens; 112-body; 120-material transport part; 130-nozzle head; 131-adsorption surface; 132-positioning mark; 1321-vertex mark; 1322-contour mark; 140-illumination light source; 210-camera; 220-material transport mechanism; 230-auxiliary positioning part; 231-outer contour positioning part; 232-inner contour positioning part; A-preset trajectory; B-preset road section; C-detection range; 10-flying positioning device; 11-acquisition module; 12-processing module; 13-judgment module; 14-adjustment module; 15-reset module. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0058] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0059] At present, in the process of automated production, the way to locate materials is to obtain position information by making the object to be measured still in the field of view of the camera mechanism; or to achieve positioning by accurately controlling the exposure time when the object to be measured passes through the field of view of the camera mechanism during flight. However, the former method requires the camera mechanism or the object to be measured to move relatively and stop, which cannot meet the needs of high-speed material loading and unloading; and the latter method has extremely high requirements on the accuracy of controlling the exposure time of the camera mechanism, the response delay of the camera mechanism, and the speed of flight, and it is difficult to meet the requirements of high-speed material loading and unloading and precise positioning at the same time. Based on this, the inventor of the present application provides a flying positioning device and method to simultaneously meet the needs of high-speed material loading and unloading and precise positioning.

[0060] First embodiment

[0061] See also Figure 1 , Figure 1 A flying positioning device 100 provided according to the first embodiment of the present application is shown.

[0062] In this embodiment, the flying camera positioning device 100 may include a camera mechanism 110, a material transporting member 120, and a nozzle head 130. The nozzle head 130 is disposed on a side of the material transporting member 120 facing the camera mechanism 110.

[0063] The imaging unit 110 may be a camera module, a camera, a camera, etc. Figure 1 and Figure 2 In this embodiment, in order to obtain a better positioning image, the camera mechanism 110 may include a lens 111 and a body 112. The lens 111 is connected to the body 112 and faces the material transporting member 120, so that the lens 111 obtains a picture including the material transporting member 120, thereby facilitating the shooting of the positioning image. The lens 111 may use a lens with a suitable focal length and a fixed focus to stably obtain a high-quality positioning image.

[0064] The material transporting member 120 may be a movable arm, a material transporting vehicle, etc., which are not limited here. The material transporting member 120 may be arranged on a carrier or a device, and run along a preset track A. In the preset track A, a preset section B may be set, and the preset section B may be a small section of a path or a point on the preset track A. Then, the camera mechanism 110 may be set to shoot the material transporting member 120 when it runs to the preset section B, and the timing of shooting by the camera mechanism 110 may be determined by setting a trigger member connected to the camera mechanism 110. Among them, the trigger member may be a sensor, which detects whether the material transporting member 120 has run to the preset section B, and sends a shooting instruction to the camera mechanism 110 when the material transporting member 120 runs to the preset section B, so that the camera mechanism 110 shoots the material transporting member 120 when it runs to the preset section B, thereby obtaining a positioning image.

[0065] Please also read Figure 1 and Figure 3 The nozzle head 130 may include an adsorption surface 131. The adsorption surface 131 is disposed on a side facing the camera mechanism 110, so that the positioning image captured by the camera mechanism 110 includes the adsorption surface 131.

[0066] In this embodiment, the adsorption surface 131 may be rectangular, circular, triangular, etc., depending on actual needs and is not limited here. A positioning mark 132 is provided on the adsorption surface 131, which may include a vertex mark 1321, for example. When the adsorption surface is a polygon such as a rectangle or a triangle, a vertex mark 1321 may be set at each vertex on the adsorption surface 132. Connecting the vertex marks 1321 in sequence can form a range larger than the outline of the material. By positioning the vertex mark 1321 set on the adsorption surface 132, the flying positioning device 100 can be assisted in positioning the material.

[0067] Please also read Figure 1 and Figure 4In this embodiment, the positioning mark 132 may also be a contour mark 1322. Here, a rectangular material is taken as an example, and the contour of the material is a rectangle, and the contour of the contour mark 1322 may be a rectangle of the same size as the material contour. The contour mark 1322 may also be used to locate the material, for example, when the contour of the material coincides with the contour mark 1322, it is the target position of the material, and it may be used to accurately adjust the position of the material.

[0068] It should be noted that the contour mark 1322 mentioned as an example here is consistent with the size of the material's contour. In some practicable embodiments, the contour mark 1322 may also be larger than the material's contour, which is not limited here.

[0069] The positioning mark 132 may be a small hole opened on the adsorption surface 131 , an object of a different material from the adsorption surface 131 attached to the adsorption surface 131 , or an object of a different color or having a different effect from the adsorption surface 131 , which is not limited here.

[0070] Please refer again Figure 1 In this embodiment, the flying positioning device 100 may further include an illumination light source 140, which may be disposed on both sides of the lens 111, and is used to provide illumination for the transport member 120 when the transport member runs to the preset section B. In this way, the light brightness of the adsorption surface 131 on the transport member 120 can be controlled, which is convenient for the camera mechanism 110 to shoot, thereby obtaining a positioning image with stable quality, and can also minimize the formation of shadows, further ensuring the quality of the positioning image.

[0071] By setting the positioning mark 132 on the adsorption surface 131 of the flying positioning device 100, the positioning mark 132 can be also captured when the camera mechanism 110 captures the image of the adsorption surface 131 of the adsorbed material, so that the flying positioning device 100 can accurately locate the material according to the image. In this way, the image of the material can be captured during the high-speed material loading and unloading process, and the control accuracy requirements for the exposure time of the camera mechanism 110 can be reduced, allowing the camera mechanism 110 to have a larger delay range, while still being able to achieve accurate positioning of the material.

[0072] See also Figure 5 , Figure 5 A flow chart of a flying positioning method is shown. In this embodiment, the flying positioning method may include: step S10, step S20, step S30, step S40, step S50 and step S60. The flying positioning method can be applied to the flying positioning device provided in the embodiment of the present application, and the flying positioning device can realize accurate positioning of the material in the process of high-speed material loading and unloading according to the flying positioning method.

[0073] Step S10: controlling the camera mechanism to photograph the adsorption surface on which the material is adsorbed, so as to obtain a positioning image.

[0074] The flying positioning device can detect the operation of the material transport part during the high-speed material loading and unloading process. When the trigger part detects that the material transport part moves along its preset trajectory to a preset section, the flying positioning device can generate a shooting instruction for controlling the camera mechanism to perform a shooting action based on the detected information. And, the shooting instruction is sent to the camera mechanism, so that the camera mechanism can perform a shooting action according to the shooting instruction, thereby shooting the adsorption surface of the material adsorbed on the suction nozzle head of the material transport part, and obtaining a positioning image containing the adsorption surface adsorbed with the material.

[0075] For example, Figure 6 As shown, the captured positioning image P1 includes a suction surface with materials suctioned thereon, and the suction surface has vertex marks and contour marks for assisting in positioning the materials and adjusting the position of the materials.

[0076] By utilizing the triggering device to detect the running status of the material transporting device and controlling the camera mechanism to capture the positioning image when detecting that the material transporting device has moved to the preset section, the acquired positioning image can be made more stable and provide a technical basis for the realization of flying positioning, thereby being able to locate the material during high-speed material transportation.

[0077] It should be noted that, in the present embodiment, the positioning image is obtained by taking pictures with a flying positioning device, but in some other feasible methods, it can also be received from other devices, such as some terminals with camera functions, etc. Therefore, this should not be regarded as a limitation of the present application.

[0078] After the positioning image is obtained, step S20 may be performed.

[0079] Step S20: Determine the mark position of the image of the positioning mark in the positioning image and the material position of the image of the material in the positioning image.

[0080] In this embodiment, the flying positioning device can process the acquired positioning image. For example, the image can be binarized to obtain a binary image, the contour in the binary image can be detected, and the detected contour can be matched with the contour of a preset positioning mark, or the detected contour can be matched with the contour of a preset material. If the match is successful, it can be determined that the contour is the contour of the positioning mark, or the contour is determined to be the contour of the material, thereby determining the position of the contour of the positioning mark and / or the contour of the material in the image. Here, the order of determining the mark position of the image of the positioning mark in the positioning image and the material position of the image of the material in the positioning image can be unlimited.

[0081] In this embodiment, in order to improve the efficiency of determining the mark position and the material position, the mark position can be detected first, and a detection range can be defined in the positioning image through the mark position, and the material contour can be detected within the detection range, thereby determining the material position. When the positioning mark is a discrete case, the positioning marks can be connected in sequence to form a closed range; when the positioning mark is a closed area, the closed range can be directly determined; when the positioning mark is a point or line that cannot form a closed range, a preset closed range can be determined based on the point or line. The determination of the detection range can be obtained by scaling on the basis of the closed range, for example, the closed range can be enlarged by 1.2 times, 1.5 times, 0.8 times, etc., depending on the actual needs, and is not limited here.

[0082] For example, Figure 7 As shown, the positioning image P1 can be processed to obtain the positioning image P2, and the mark position of the positioning mark and the detection range C determined by the mark position can be determined. The material position can be determined by detecting the contour of the material within the detection range C.

[0083] By defining the detection range of the material image according to the marked position, the detection rate can be accelerated and the efficiency of flying positioning can be improved.

[0084] After the marking position and the material position are determined, step S30 may be performed.

[0085] Step S30: determining a position difference according to the mark position and the material position.

[0086] In this embodiment, the difference between the mark position and the material position can be directly determined as the position difference. For example, the position difference between the mark position and the material position can be expressed by the difference between the coordinates of the mark position and the material position, and the coordinates can be the coordinates of the vertices of the positioning mark and the material contour; the position difference between the two can also be directly expressed by area parameters, such as the difference between the area occupied by the contour of the positioning mark in the positioning image and the area occupied by the material contour in the positioning image, which is not limited here.

[0087] In this embodiment, the target position of the material having a preset position relationship with the marked position can also be determined by determining the marked position, and then the position difference between the target position of the material and the material position can be determined. The preset position relationship here can be determined by adding or subtracting a preset value from the coordinate value of the marked position. For example, the four coordinates of the marked position are: (20, 10), (20, 50), (80, 50), (80, 10), and the four vertex coordinates of the target position can correspond to: (30, 20), (30, 40), (70, 40), (70, 20).

[0088] For example, the position differences between the material position and the target position are (30-2, 20-3), (30-2, 40-3), (70-2, 40-3), (70-2, 20-3).

[0089] After the position difference is determined, step S40 may be performed.

[0090] Step S40: determining whether the position difference is greater than a preset threshold.

[0091] Assume that the preset threshold value of the position difference in this embodiment is 1, that is, the error does not exceed the value 1, and the values ​​of the position difference here are 2 and 3, then it is judged that it is greater than the preset threshold value.

[0092] When it is determined that the position difference is greater than the preset threshold, step S50 may be executed.

[0093] Step S50: adjusting the position of the material based on the position difference.

[0094] In this embodiment, the flying positioning device can generate adjustment instructions based on the position difference to adjust the position of the material transport piece, and the suction nozzle head and the adsorption surface can also be adjusted along with the adjustment of the material transport piece, so as to finally correct the position of the material; of course, in some feasible methods, the position of the suction nozzle head can also be adjusted, thereby causing the position of the adsorption surface to be adjusted to correct the position of the material; the position of the adsorption surface can also be directly adjusted to correct the position of the material. This is not limited here and is subject to actual needs.

[0095] See also Figure 8 , the position of the material can be corrected by adjusting the position of the adsorption surface.

[0096] Assume that the preset threshold of the position difference in this embodiment is 5, that is, the error does not exceed the value 5, and the values ​​of the position difference here are 2 and 3, then it is judged that they are less than the preset threshold.

[0097] When it is determined that the position difference is not greater than the preset threshold, step S60 may be executed.

[0098] Step S60: completing the flying positioning of the material.

[0099] After the flying positioning equipment completes the flying positioning of the material, it can also adjust the material transport parts to return to the initial position to prepare for the next material loading and unloading and flying positioning.

[0100] By processing the captured positioning image, the position difference between the marking position of the positioning mark and the material position of the material is determined, so that it can be determined whether the material position is qualified, and the material position can be adjusted if it is unqualified. This method can easily and accurately determine whether the material position meets the requirements, and adjust the material position if it does not meet the requirements, thereby ensuring that the automated production can proceed normally.

[0101] See also Fig. 9 The embodiment of the present application further provides a flying positioning device 10, comprising:

[0102] The acquisition module 11 is used to control the camera structure to shoot the adsorption surface with the material adsorbed thereon to obtain a positioning image; the processing module 12 is used to determine the mark position of the image of the positioning mark in the positioning image and the material position of the image of the material in the positioning image; and, according to the mark position and the material position, determine the position difference; the judgment module 13 is used to judge whether the position difference is greater than a preset threshold; the adjustment module 14 is used to adjust the position of the material based on the position difference when the position difference is greater than the preset threshold; the processing module 12 is also used to complete the flying positioning of the material this time when the position difference is not greater than the preset threshold.

[0103] In this embodiment, the acquisition module 11 is also used to generate a shooting instruction when detecting that the material transport piece moves along the preset trajectory to a preset section; the shooting instruction is sent to the camera mechanism, so that the camera mechanism executes a shooting action to obtain a positioning image of the adsorption surface containing the material adsorbed.

[0104] In this embodiment, the processing module 12 is also used to determine the mark position of the image of the positioning mark in the positioning image; based on the mark position, define a detection range including the image of the material in the positioning image; detect the image of the material within the detection range, and determine the position of the image of the material in the positioning image.

[0105] In this embodiment, the adjustment module 14 is further configured to generate an adjustment instruction based on the position difference; and adjust the adsorption surface according to the adjustment instruction to correct the position of the material.

[0106] In this embodiment, the flying positioning device 10 further includes: a reset module 15, which is used to adjust the material transporting piece to return to an initial position.

[0107] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the above-mentioned flying positioning method.

[0108] Second embodiment

[0109] See also Fig.10 In this embodiment, a flying positioning device 200 may be provided. Since the flying positioning device 200 and the flying positioning device 100 have many similarities in structure, connection relationship and function, for the parts with similar structure, please refer to the first embodiment.

[0110] The flying positioning device 200 may include a camera 210, a material transport mechanism 220, and an auxiliary positioning member 230. The auxiliary positioning member 230 is disposed on a side of the material transport mechanism 220 facing the camera 210, and the material transport mechanism 220 is within the shooting range of the camera 210.

[0111] In this embodiment, the structure, connection relationship and function of the camera 210 can refer to the camera mechanism 110 of the flying positioning device 100 in the first embodiment; and the material transport mechanism 220 may include a material transport part and a nozzle head, and its structure, connection relationship and function can refer to the material transport part 120 and the nozzle head 130 of the flying positioning device 100 in the first embodiment, which will not be repeated here.

[0112] See also Fig.11 , Fig.11 A schematic diagram showing an auxiliary positioning member 230 disposed on an adsorption surface is shown.

[0113] In this embodiment, an auxiliary positioning member 230 may be provided on the adsorption surface, and the structure and material of the auxiliary positioning member 230 may be a material different from that of the adsorption surface, such as an object with a fluorescent effect, or a material with an electromagnetic effect different from that of the adsorption surface, such as the adsorption surface is made of a silicone material, and the auxiliary positioning member 230 is made of a metal material, an alloy material, etc. The auxiliary positioning member 230 may be used in conjunction with an existing flying positioning device, which may save resources.

[0114] In this embodiment, the shape of the adsorption surface is not limited, and a rectangle is used as an example for explanation. The auxiliary positioning member 230 may include: an outer contour positioning member 231 and / or an inner contour positioning member 232. The outer contour positioning member 231 may be arranged at each vertex of the adsorption surface, and the range formed by sequentially connecting the outer contour positioning members 231 is larger than the outline of the material. In this way, the position of the material can be positioned with reference to the position of the outer contour positioning member 231.

[0115] The inner contour positioning member 232 can be consistent with the outline of the material. Here, a rectangular material that is smaller than the adsorption surface is taken as an example. The outline of the material is a rectangle, and the outline of the inner contour positioning member 232 can be a rectangle that is consistent with the outline size of the material. The inner contour positioning member 232 can also be used to position the material. For example, when the outline of the material coincides with the inner contour positioning member 232, it is the target position of the material, as well as to accurately adjust the position of the material. It should be noted that the inner contour positioning member 232 mentioned in the example here is consistent with the outline size of the material. In some feasible methods, the inner contour positioning member 232 can also be larger than the outline of the material, which is not limited here.

[0116] By using the flying positioning device 200, it is possible to capture images of materials during high-speed material loading and unloading, and the control accuracy requirements for the exposure time of the camera 210 can be reduced, allowing the camera 210 to have a larger delay range, and still achieve accurate positioning of the materials. In addition, since the auxiliary positioning member 230 can be set on the material transport mechanism 220, it can cooperate with existing equipment to achieve accurate positioning of the materials, which can save resources.

[0117] In summary, the embodiments of the present application provide a flying positioning device, method, apparatus and storage medium. By setting a positioning mark on the adsorption surface of the flying positioning device, the positioning mark can be captured when the camera mechanism captures the image of the adsorption surface of the adsorbed material, so that the flying positioning device can accurately locate the material according to the image. Such a flying positioning device can capture the image of the material during high-speed material loading and unloading, and can reduce the control accuracy requirements for the exposure time of the camera mechanism, allowing the camera mechanism to have a larger delay range, while still being able to achieve accurate positioning of the material. In addition, by processing the captured positioning image, the position difference between the mark position of the positioning mark and the material position of the material is determined, so that it can be determined whether the position of the material is qualified, and the position of the material can be adjusted if it is unqualified. This method can easily and accurately determine whether the position of the material meets the requirements and ensure the normal progress of automated production.

[0118] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A flying positioning method, characterized in that: The invention is applied to a flying positioning device, which includes a camera mechanism; a material transporting piece, which is arranged opposite to the camera mechanism and can move along a preset track; a suction nozzle head, which is arranged on a side of the material transporting piece facing the camera mechanism and moves with the material transporting piece, and a positioning mark is arranged on the suction surface of the suction nozzle head, and the suction surface is within the shooting range of the camera mechanism, and the camera mechanism shoots the suction surface with the material adsorbed. The method comprises: Controlling the camera mechanism to photograph the adsorption surface on which the material is adsorbed to obtain a positioning image; Determine the mark position of the image of the positioning mark in the positioning image and the material position of the image of the material in the positioning image; Determining a position difference according to the mark position and the material position; Determining whether the position difference is greater than a preset threshold; If so, adjusting the position of the material based on the position difference; If not, complete the flying positioning of the material.

2. The flying positioning method according to claim 1, characterized in that: The flying positioning device also includes: an illumination light source, The illumination light source provides illumination for the adsorption surface, so that the camera mechanism can take pictures of the adsorption surface.

3. The flying positioning method according to claim 1, characterized in that: The controlling the camera mechanism to photograph the adsorption surface on which the material is adsorbed to obtain a positioning image includes: When it is detected that the transported material moves along the preset trajectory to a preset section, a shooting instruction is generated; The shooting instruction is sent to the camera mechanism, so that the camera mechanism executes a shooting action to obtain a positioning image of the adsorption surface containing the material adsorbed thereon.

4. The flying positioning method according to claim 1, characterized in that: The determining the mark position of the image of the positioning mark in the positioning image and the material position of the image of the material in the positioning image comprises: Determine the mark position of the image of the positioning mark in the positioning image; Delimiting a detection range of an image including the material in the positioning image according to the marked position; The image of the material is detected within the detection range, and the position of the image of the material in the positioning image is determined.

5. The flying positioning method according to claim 1, characterized in that: The adjusting the position of the material based on the position difference includes: generating an adjustment instruction based on the position difference; According to the adjustment instruction, the adsorption surface is adjusted to correct the position of the material.

6. The flying positioning method according to claim 1, characterized in that: After the suction nozzle head places the material, and before the suction nozzle head absorbs another material, the method further includes: Adjust the material transporting member to return to the initial position.

7. A flying positioning device, characterized in that: Applied to a flying positioning device, the flying positioning device includes a camera mechanism; a material transporting piece, which is arranged opposite to the camera mechanism and can move along a preset track; a nozzle head, which is arranged on the side of the material transporting piece facing the camera mechanism and moves with the material transporting piece, and a positioning mark is provided on the adsorption surface of the nozzle head, the adsorption surface is within the shooting range of the camera mechanism, and the camera mechanism shoots the adsorption surface with the material adsorbed, and the flying positioning device includes: An acquisition module, used for controlling the camera mechanism to shoot the adsorption surface with the material adsorbed thereon, so as to acquire a positioning image; A processing module, used for determining a mark position of the image of the positioning mark in the positioning image and a material position of the image of the material in the positioning image; The processing module is further used to determine the position difference according to the marking position and the material position; A judging module, used to judge whether the position difference is greater than a preset threshold; An adjustment module, configured to adjust the position of the material based on the position difference when the position difference is greater than a preset threshold; The processing module is also used to complete the flying positioning of the material when the position difference is not greater than a preset threshold.

8. The flying shot positioning device according to claim 7, characterized in that: The processing module is further used to determine the position difference between the material position and the mark position in the positioning image.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the flying positioning method described in any one of claims 1 to 6.

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