Material assembly method and assembly device, computer readable storage medium, and processor

Abstract

The present invention discloses a material assembly method and assembly device, a computer-readable storage medium, and a processor. The material assembly method includes: using a preset visual system to obtain a first image of a basic assembly material, and then determining the pixel coordinates of a first identification part in the first image based on a preset calibration relationship, and then controlling a preset robot to clamp the material to be assembled and move it to a preset height position, and controlling the preset visual system to take a photo of the material to be assembled to obtain a second image, and then determining the pixel coordinates of a second identification part in the second image based on a preset calibration relationship, and finally controlling the preset robot to assemble the material to be assembled into the basic assembly material based on the relative coordinate relationship between the pixel coordinates of the first identification part and the pixel coordinates of the second identification part. The present invention solves the technical problem of low operating efficiency in the related art of manually placing materials on the assembly line.

Description

Technical Field

[0001] The present invention relates to the technical field of material assembly, and in particular to a material assembly method and assembly device, a computer-readable storage medium, and a processor. Background Art

[0002] At present, intelligent automation technology has been widely used. In the production of air-conditioning assembly, if ordinary robots are used to place materials, precise positioning mechanisms must be used to position them accurately. However, some materials cannot be accurately positioned when they are delivered, so ordinary robots cannot operate. Therefore, in the production of air-conditioning assembly, intelligent automation has not been realized, and materials are still placed manually on the assembly line. However, manual placement is time-consuming and labor-intensive, and manual labor requires rest, which affects product production efficiency.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a material assembly method and assembly device, a computer-readable storage medium, and a processor to at least solve the technical problem of low operating efficiency in the related art of manually placing materials on an assembly line.

[0005] According to one aspect of an embodiment of the present invention, a material assembly method is provided, comprising: using a preset visual system to acquire a first image of a basic assembly material; based on a preset calibration relationship, determining the pixel coordinates of a first identification portion in the first image, wherein the first identification portion is located on the basic assembly material; controlling a preset robot to clamp the material to be assembled and move it to a preset height position, and controlling the preset visual system to take a photo of the material to be assembled to obtain a second image; based on a preset calibration relationship, determining the pixel coordinates of a second identification portion in the second image, wherein the second identification portion is located on the material to be assembled; based on the relative coordinate relationship between the pixel coordinates of the first identification portion and the pixel coordinates of the second identification portion, controlling the preset robot to assemble the material to be assembled into the basic assembly material.

[0006] Optionally, the step of acquiring a first image of a basic assembly material using a preset visual system includes: detecting whether the basic assembly material moves to a preset identification position on a preset production line; if the basic assembly material moves to the preset identification position, acquiring a first image of the basic assembly material using a preset visual system.

[0007] Optionally, before adopting a preset visual system to acquire a first image of a basic assembly material, the material assembly method further includes: acquiring pixel coordinates of a plurality of marker points in the preset visual system; determining the world coordinates of the preset robot at each marker point; integrating the pixel coordinates and the world coordinates of the preset robot to determine a linear relationship between the pixel coordinates and the world coordinates to obtain the preset calibration relationship.

[0008] Optionally, the step of determining the world coordinates of the preset robot at each mark point includes: controlling a calibration needle installed on the preset robot to reach each mark point in turn, wherein the calibration needle is fixed in the middle of the preset robot fixture; and recording the world coordinates of the preset robot at each mark point.

[0009] Optionally, the pixel coordinates of the plurality of marker points in the preset visual system and the world coordinates of the preset robot are two-dimensional plane coordinates.

[0010] Optionally, the material assembly method is applied to an air-conditioning product assembly system.

[0011] According to another aspect of an embodiment of the present invention, a material assembly device is also provided, including: an acquisition unit, used to acquire a first image of a basic assembly material using a preset visual system; a first determination unit, used to determine the pixel coordinates of a first identification portion in the first image based on a preset calibration relationship, wherein the first identification portion is located on the basic assembly material; a first control unit, used to control a preset robot to clamp the material to be assembled and move it to a preset height position, and control the preset visual system to take a picture of the material to be assembled to obtain a second image; a second determination unit, used to determine the pixel coordinates of a second identification portion in the second image based on a preset calibration relationship, wherein the second identification portion is located on the material to be assembled; and a second control unit, used to control the preset robot to assemble the material to be assembled into the basic assembly material based on the relative coordinate relationship between the pixel coordinates of the first identification portion and the pixel coordinates of the second identification portion.

[0012] Optionally, the acquisition unit includes: a first inspection module, used to detect whether the basic assembly material moves to a preset identification position on a preset production line; and a first acquisition module, used to use a preset visual system to acquire a first image of the basic assembly material if the basic assembly material moves to the preset identification position.

[0013] Optionally, the material assembly device also includes: a second acquisition module, used to acquire the pixel coordinates of multiple marking points in the preset visual system before using the preset visual system to acquire the first image of the basic assembly material; a first determination module, used to determine the world coordinates of the preset robot at each marking point; a first integration module, used to integrate the pixel coordinates and the world coordinates of the preset robot to determine the linear relationship between the pixel coordinates and the world coordinates to obtain the preset calibration relationship.

[0014] Optionally, the first determination module includes: a first control submodule, used to control the calibration needle installed on the preset robot to reach each marking point in turn, wherein the calibration needle is fixed in the middle of the preset robot fixture; a first recording submodule, used to record the world coordinates of the preset robot at each marking point.

[0015] Optionally, the pixel coordinates of the plurality of marker points in the preset visual system and the world coordinates of the preset robot are two-dimensional plane coordinates.

[0016] Optionally, the material assembly method is applied to an air-conditioning product assembly system.

[0017] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, characterized in that the storage medium is used to store a computer program, wherein when the computer program is executed by a processor, the device where the computer-readable storage medium is located controls the device to execute the above-mentioned material assembly method.

[0018] According to another aspect of an embodiment of the present invention, a processor is further provided, characterized in that the processor is used to run a program, wherein the program executes the above-mentioned material assembly method when running.

[0019] In an embodiment of the present invention, a first image of a basic assembly material is obtained by using a preset visual system, and then based on a preset calibration relationship, the pixel coordinates of the first identification part in the first image are determined, wherein the first identification part is located on the basic assembly material, and then the preset robot is controlled to clamp the material to be assembled and move to a preset height position, and the preset visual system is controlled to take a photo of the material to be assembled to obtain a second image, and then based on the preset calibration relationship, the pixel coordinates of the second identification part in the second image are determined, wherein the second identification part is located on the material to be assembled, and finally based on the relative coordinate relationship between the pixel coordinates of the first identification part and the pixel coordinates of the second identification part, the preset robot is controlled to assemble the material to be assembled into the basic assembly material. In this embodiment, a visual intelligent system is used to take a photo of the material to be placed, obtain the coordinates, and then take a photo of the material clamped by the robot, and the relative coordinates are obtained by comparison of the intelligent algorithm and sent to the robot, and then the robot performs relative movement to assemble the material, which can realize the automatic assembly of the material, can replace manual labor, and improve the production efficiency of the product, thereby solving the technical problem of low operation efficiency in the related art of placing materials on the assembly line manually. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 is a flow chart of an optional material assembly method according to an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of an optional assembly material according to an embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of an optional preset identification position point according to an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of an optional material assembly device according to an embodiment of the present invention; DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] To facilitate those skilled in the art to understand the present invention, some terms or nouns involved in the embodiments of the present invention are explained below:

[0028] PLC, programmable logic controller, is a digital computing and operating electronic system designed specifically for use in industrial environments.

[0029] The following embodiments of the present invention can be applied to the assembly system of air-conditioning products, and can intelligently assemble various components of air-conditioning, including but not limited to: fans, panels, boxes, etc. In the present invention, a visual intelligent system composed of vision, PLC and robots is used to replace manual operations. The visual intelligent system can be started with one button, visually take pictures, and automatically place them. In this way, no human participation is required, and the material placement task can be completed efficiently, effectively solving the problem that some materials cannot be accurately positioned, resulting in the inability of ordinary robots to operate.

[0030] The present invention is described in detail below in conjunction with various embodiments.

[0031] Embodiment 1

[0032] According to an embodiment of the present invention, an embodiment of a material assembly method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] Figure 1 is a flow chart of an optional material assembly method according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0034] Step S102, using a preset visual system to acquire a first image of a basic assembly material;

[0035] Step S104, determining the pixel coordinates of a first identification portion in the first image based on a preset calibration relationship, wherein the first identification portion is located on the basic assembly material;

[0036] Step S106, controlling the preset robot to grip the material to be assembled and move it to a preset height position, and controlling the preset visual system to take a picture of the material to be assembled to obtain a second image;

[0037] Step S108, determining the pixel coordinates of the second identification portion in the second image based on the preset calibration relationship, wherein the second identification portion is located on the material to be assembled;

[0038] Step S110 , based on the relative coordinate relationship between the pixel coordinates of the first marking portion and the pixel coordinates of the second marking portion, controlling a preset robot to assemble the material to be assembled into the basic assembly material.

[0039] Through the above steps, the first image of the basic assembly material can be obtained by using a preset visual system, and then based on the preset calibration relationship, the pixel coordinates of the first identification part in the first image are determined, wherein the first identification part is located on the basic assembly material, and then the preset robot is controlled to clamp the material to be assembled and move to a preset height position, and the preset visual system is controlled to take a photo of the material to be assembled to obtain a second image, and then based on the preset calibration relationship, the pixel coordinates of the second identification part in the second image are determined, wherein the second identification part is located on the material to be assembled, and finally based on the relative coordinate relationship between the pixel coordinates of the first identification part and the pixel coordinates of the second identification part, the preset robot is controlled to assemble the material to be assembled into the basic assembly material. In this embodiment, a visual intelligent system is used to take a photo of the material to be placed, obtain the coordinates, and then take a photo of the material clamped by the robot, and the relative coordinates are obtained by comparison of the intelligent algorithm and sent to the robot, and then the robot performs relative movement to assemble the material, which can realize the automatic assembly of the material, can replace manual labor, and improve the production efficiency of the product, thereby solving the technical problem of low operation efficiency in the related technology of manually placing materials on the assembly line.

[0040] The embodiments of the present invention are described in detail below in combination with the above-mentioned implementation steps.

[0041] Step S102: using a preset visual system to acquire a first image of a basic assembly material.

[0042] In this embodiment, a camera provided in a visual system is used to obtain a first image of a basic assembly material, wherein the camera includes but is not limited to: a visible light camera, a depth camera, etc. The basic assembly material is used to indicate the switchboard components on the assembly line, and the material to be assembled needs to be installed on the basic assembly material, such as Figure 2As shown, B is the basic assembly material, A is the material to be assembled, c is the center point of part c on the basic assembly material B, and d is the center point of part d on the material to be assembled A.

[0043] Optionally, the step of acquiring a first image of a basic assembly material using a preset visual system includes: detecting whether the basic assembly material moves to a preset identification position on a preset production line; if the basic assembly material moves to the preset identification position, acquiring a first image of the basic assembly material using a preset visual system.

[0044] In this embodiment, the camera focus of the preset visual system can be adjusted, and then a piece of white paper is placed directly below the camera, and a Figure 3 Four points ABCD are marked as preset recognition position points, and then the basic assembly material is moved to the preset recognition position points to obtain the first image.

[0045] Optionally, before using a preset visual system to obtain a first image of the basic assembly material, the material assembly method also includes: obtaining pixel coordinates of multiple marker points in the preset visual system; determining the world coordinates of a preset robot at each marker point; integrating the pixel coordinates and the world coordinates of the preset robot to determine the linear relationship between the pixel coordinates and the world coordinates to obtain a preset calibration relationship.

[0046] In an embodiment, a thin and pointed object, i.e., a calibration needle, can be mounted on the robot's fixture, and then the following can be clicked in sequence in the camera software using the mouse: Figure 3 , record the pixel coordinates in the visual software, for example, A(300PX,100PX), B(300PX,300PX), C(800PX,100PX), D(800PX,300PX) (PX is the unit of pixel coordinates), then operate the robot to make the calibration needle (the calibration needle is fixed in the middle of the robot fixture, vertically downward) come to the four points ABCD in turn, and record the X and Y coordinates in the world coordinates of the robot, for example, A(200mm,100mm), B(200mm,200mm), C(400mm,10 0mm), D(400mm, 200mm), and input the coordinates of the four points into the vision system. The vision system integrates the camera pixel coordinates and the robot's world coordinates, that is, the origin of the robot's world coordinate system and the origin of the pixel coordinate system are coincident through the internal software of the vision system. Finally, the linear relationship between the pixel coordinates and the world coordinates is determined. For example, the coordinates in the world coordinate system are (100,100), unit mm, and the coordinates in the vision coordinate system are (200,200), unit px. Then the coordinates of the same point in different coordinate systems satisfy the linear relationship 1mm=2px, thereby obtaining the calibration relationship.

[0047] Another optional step of determining the world coordinates of the preset robot at each mark point includes: controlling a calibration needle installed on the preset robot to reach each mark point in turn, wherein the calibration needle is fixed in the middle of the preset robot fixture; and recording the world coordinates of the preset robot at each mark point.

[0048] Step S104: determining the pixel coordinates of a first identification portion in the first image based on a preset calibration relationship, wherein the first identification portion is located on the basic assembly material.

[0049] like Figure 2 As shown, B is the basic assembly material on the assembly line, and A is the material to be assembled to be placed in B. When B flows to the intelligent vision preset recognition position point, B is positioned on the assembly line. After that, the camera in the vision system is turned on, and by comparing the feature points, the pixel coordinates of the center point of part c in B (that is, the first identification part) are captured, for example (300PX, 200PX).

[0050] Step S106, controlling the preset robot to grip the material to be assembled and move it to a preset height position, and controlling the preset visual system to take a picture of the material to be assembled to obtain a second image.

[0051] In this embodiment, the robot may be controlled to hold the material A to be assembled and arrive at a position 100 mm above the assembly line to take a picture, thereby obtaining a second image.

[0052] Step S108, determining the pixel coordinates of the second identification portion in the second image based on the preset calibration relationship, wherein the second identification portion is located on the material to be assembled.

[0053] In this embodiment, by comparing the feature points, the pixel coordinates of the center point of part d (ie, the second identification part) in the material A to be assembled are captured, for example (100PX, 100PX).

[0054] Step S110 , based on the relative coordinate relationship between the pixel coordinates of the first marking portion and the pixel coordinates of the second marking portion, controlling a preset robot to assemble the material to be assembled into the basic assembly material.

[0055] In this embodiment, the algorithm can be used to obtain the relative position coordinates of the robot at this time, for example (80mm, 40mm, -100mm), and then the material A to be assembled can be accurately placed in the basic assembly material B, thereby realizing the planar placement of simple assembly products. It not only has high production efficiency but also high accuracy, and can solve many rhythm problems in the production process.

[0056] In an optional implementation manner in the embodiment of the present invention, the pixel coordinates of the plurality of marking points in the preset visual system and the world coordinates of the preset robot are two-dimensional plane coordinates.

[0057] In another optional implementation manner in the embodiment of the present invention, the material assembly method is applied to an air-conditioning product assembly system.

[0058] The above-mentioned visual intelligent system can be used for material assembly operations, which can be started with one button, take visual photos, and place materials automatically. The material placement task can be completed efficiently without human intervention, thereby improving production efficiency.

[0059] The present invention is described below in conjunction with another optional embodiment.

[0060] Embodiment 2

[0061] The embodiment of the present invention provides a material assembly device, and each implementation unit included in the material assembly device corresponds to each implementation step in the above-mentioned embodiment 1.

[0062] Figure 4 is a schematic diagram of an optional material assembly device according to an embodiment of the present invention, such as Figure 4 As shown, the material assembly device includes: an acquisition unit 40, a first determination unit 42, a first control unit 44, a second determination unit 46, and a second control unit 48, wherein:

[0063] An acquisition unit 40 is used to acquire a first image of a basic assembly material using a preset visual system;

[0064] A first determining unit 42 is used to determine the pixel coordinates of a first identification portion in the first image based on a preset calibration relationship, wherein the first identification portion is located on the basic assembly material;

[0065] A first control unit 44 is used to control a preset robot to grip the material to be assembled and move it to a preset height position, and control a preset visual system to take a picture of the material to be assembled to obtain a second image;

[0066] A second determining unit 46, configured to determine the pixel coordinates of a second identification portion in the second image based on a preset calibration relationship, wherein the second identification portion is located on the material to be assembled;

[0067] The second control unit 48 is used to control the preset robot to assemble the material to be assembled into the basic assembly material based on the relative coordinate relationship between the pixel coordinates of the first identification part and the pixel coordinates of the second identification part.

[0068] The above-mentioned material assembly device can use a preset visual system to obtain a first image of the basic assembly material through the acquisition unit 40, and then determine the pixel coordinates of the first identification part in the first image through the first determination unit 42 based on the preset calibration relationship, wherein the first identification part is located on the basic assembly material, and then control the preset robot to clamp the material to be assembled and move it to a preset height position through the first control unit 44, and control the preset visual system to take a picture of the material to be assembled to obtain a second image, and then determine the pixel coordinates of the second identification part in the second image through the second determination unit 46 based on the preset calibration relationship, wherein the second identification part is located on the material to be assembled, and finally, based on the relative coordinate relationship between the pixel coordinates of the first identification part and the pixel coordinates of the second identification part, control the preset robot through the second control unit 48 to assemble the material to be assembled into the basic assembly material. In this embodiment, a visual intelligent system is used to take pictures of the materials where materials need to be placed to obtain coordinates, and then take pictures of the materials clamped by the robot. The relative coordinates are obtained through comparison by an intelligent algorithm and sent to the robot. The robot then performs relative movement to assemble the materials, thereby realizing automated assembly of materials, replacing manual labor, and improving product production efficiency, thereby solving the technical problem of low operating efficiency in the related technology of manually placing materials on the assembly line.

[0069] Optionally, the acquisition unit includes: a first inspection module, used to detect whether the basic assembly material moves to a preset identification position on a preset production line; and a first acquisition module, used to use a preset visual system to acquire a first image of the basic assembly material if the basic assembly material moves to the preset identification position.

[0070] Optionally, the material assembly device also includes: a second acquisition module, used to obtain the pixel coordinates of multiple marking points in a preset visual system before using the preset visual system to obtain the first image of the basic assembly material; a first determination module, used to determine the world coordinates of the preset robot at each marking point; a first integration module, used to integrate the pixel coordinates and the world coordinates of the preset robot to determine the linear relationship between the pixel coordinates and the world coordinates to obtain a preset calibration relationship.

[0071] Optionally, the first determination module includes: a first control submodule, used to control the calibration needle installed on the preset robot to reach each marking point in turn, wherein the calibration needle is fixed in the middle of the preset robot fixture; a first recording submodule, used to record the world coordinates of the preset robot at each marking point.

[0072] Optionally, the pixel coordinates of the plurality of marking points in the preset visual system and the world coordinates of the preset robot are two-dimensional plane coordinates.

[0073] Optionally, the material assembly method is applied to an air-conditioning product final assembly system.

[0074] The above-mentioned material assembly device may also include a processor and a memory. The above-mentioned acquisition unit 40, first determination unit 42, first control unit 44, second determination unit 46, second control unit 48, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0075] The processor includes a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters are adjusted based on the relative coordinate relationship between the pixel coordinates of the first identification part and the pixel coordinates of the second identification part to control the preset robot to assemble the material to be assembled into the basic assembly material.

[0076] The above-mentioned memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one storage chip.

[0077] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, characterized in that the storage medium is used to store a computer program, wherein the computer program, when executed by a processor, controls the device where the computer-readable storage medium is located to execute the above-mentioned material assembly method.

[0078] According to another aspect of an embodiment of the present invention, a processor is further provided, wherein the processor is used to run a program, wherein the above-mentioned material assembly method is executed when the program is run.

[0079] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: using a preset visual system to obtain a first image of a basic assembly material, and then determining the pixel coordinates of a first identification portion in the first image based on a preset calibration relationship, and then controlling a preset robot to clamp the material to be assembled and move it to a preset height position, and controlling the preset visual system to take a picture of the material to be assembled to obtain a second image, and then determining the pixel coordinates of a second identification portion in the second image based on a preset calibration relationship, and finally, based on the relative coordinate relationship between the pixel coordinates of the first identification portion and the pixel coordinates of the second identification portion, controlling the preset robot to assemble the material to be assembled into the basic assembly material.

[0080] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0081] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0082] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0083] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0084] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0085] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0086] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A material assembly method, characterized in that: Applied to air-conditioning product assembly system, including: Obtain pixel coordinates of a plurality of marking points in a preset visual system; determine the world coordinates of a preset robot at each marking point; input the pixel coordinates and the world coordinates of the preset robot into the preset visual system, and use the preset visual system to make the origin of the world coordinate system of the preset robot coincide with the origin of the pixel coordinate system, determine the linear relationship between the pixel coordinates and the world coordinates, and obtain a preset calibration relationship; wherein, the step of determining the world coordinates of the preset robot at each marking point includes: controlling a calibration needle mounted on the preset robot to reach each marking point in turn, wherein the calibration needle is fixed in the middle of the preset robot fixture; and recording the world coordinates of the preset robot at each marking point; Wherein, the pixel coordinates of the plurality of marker points in the preset visual system and the world coordinates of the preset robot are two-dimensional plane coordinates; Acquiring a first image of a basic assembly material using a preset visual system includes: detecting whether the basic assembly material moves to a preset identification position point on a preset assembly line; if the basic assembly material moves to the preset identification position point, acquiring a first image of the basic assembly material using a preset visual system; Based on a preset calibration relationship, determining pixel coordinates of a first identification portion in the first image, wherein the first identification portion is located on a basic assembly material; Controlling a preset robot to grip the material to be assembled and move it to a preset height position, and controlling the preset visual system to take a photo of the material to be assembled to obtain a second image; Based on a preset calibration relationship, determining pixel coordinates of a second identification portion in the second image, wherein the second identification portion is located on the material to be assembled; Based on the relative coordinate relationship between the pixel coordinates of the first identification part and the pixel coordinates of the second identification part, the preset robot is controlled to assemble the material to be assembled into the basic assembly material.

2. A material assembly device, characterized in that: Applied to air-conditioning product assembly system, including: An acquisition unit, configured to acquire a first image of a basic assembly material using a preset visual system; The acquisition unit includes: a first inspection module, used to detect whether the basic assembly material moves to a preset identification position point on the preset production line; a first acquisition module, used to use a preset visual system to acquire a first image of the basic assembly material if the basic assembly material moves to the preset identification position point; A first determining unit, configured to determine pixel coordinates of a first identification portion in the first image based on a preset calibration relationship, wherein the first identification portion is located on a basic assembly material; A first control unit is used to control a preset robot to grip the material to be assembled and move it to a preset height position, and control the preset visual system to take a picture of the material to be assembled to obtain a second image; A second determining unit, configured to determine the pixel coordinates of a second identification portion in the second image based on a preset calibration relationship, wherein the second identification portion is located on the material to be assembled; a second control unit, configured to control the preset robot to assemble the material to be assembled into the basic assembly material based on the relative coordinate relationship between the pixel coordinates of the first identification portion and the pixel coordinates of the second identification portion; The material assembly device also includes: a second acquisition module, which is used to acquire the pixel coordinates of multiple marking points in the preset visual system before using the preset visual system to acquire the first image of the basic assembly material; a first determination module, which is used to determine the world coordinates of the preset robot at each marking point; a first integration module, which is used to input the pixel coordinates and the world coordinates of the preset robot into the preset visual system, and to make the origin of the world coordinate system of the preset robot coincide with the origin of the pixel coordinate system through the preset visual system, determine the linear relationship between the pixel coordinates and the world coordinates, and obtain the preset calibration relationship; The first determination module includes: a first control submodule, used to control the calibration needle installed on the preset robot to reach each mark point in sequence, wherein the calibration needle is fixed in the middle of the preset robot fixture; a first recording submodule, used to record the world coordinates of the preset robot at each mark point; Among them, the pixel coordinates of multiple marking points in the preset visual system and the world coordinates of the preset robot are two-dimensional plane coordinates.

3. A computer-readable storage medium, characterized in that: The storage medium is used to store a computer program, wherein the computer program, when executed by a processor, controls the device where the computer-readable storage medium is located to execute the material assembly method as claimed in claim 1.

4. A processor, characterized in that: The processor is used to run a program, wherein the material assembly method according to claim 1 is executed when the program is run.

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