Non-contact positioning device and method for positioning a product assembly location

Abstract

The application provides a non-contact positioning device and method for positioning the assembly position of products. When the assembly position of two assembled products needs to be positioned, a first positioning body is installed at a first preset position, and a second positioning body is installed at a second preset position. By adjusting the first positioning body and the second positioning body, and based on the light spot image generated after the adjustment and the corresponding image processing, whether the assembly position of the two assembled products meets the requirement of the initial assembly position can be obtained, so that the non-contact positioning of the assembly position of the assembled products during reassembly is realized. Since the contact assembly positioning is no longer required during the assembly of the assembled products, the wear of the assembled products can be reduced, and the limitation of the size and space movement displacement of the assembled products is reduced. Furthermore, the non-contact positioning device can realize the accurate positioning of the assembly position of the assembled products, and the positioning accuracy is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of product assembly position positioning, in particular to a non-contact positioning device for product assembly position positioning, a positioning method of the non-contact positioning device for product assembly position positioning, and an online monitoring method of the non-contact positioning device for product assembly position positioning. BACKGROUND

[0002] In the device installation positioning technology, currently, contact type is mainly used. Among them, the most commonly used method is to combine contact measurement and image processing to accurately position the installation position of each component. For example, a multi-degree-of-freedom measurement system is combined with an image processing method to contact measure the object to be installed, to obtain the spatial coordinates and contact marks of the object, as shown in FIG. 1, to position the installation positions of the two assembly parts through spatial position adjustment, to calculate the coordinates of the marks and the characteristics of the contact marks by using the image processing method, and to optimize the assembly method of the two assembly parts by using the machine learning method. Figure 1

[0003] The above-mentioned assembly positioning method mainly uses contact measurement, which has the following defects: it has great limitations on the size and spatial displacement of the assembly parts, and it needs to spend huge costs to improve the accuracy of the measurement device of the mechanical assembly parts, and the requirements for part processing and assembly are extremely high. In the working process, the contact between the parts also causes wear and tear, and the measurement accuracy is gradually reduced. SUMMARY

[0004] In view of the problems in the prior art that contact measurement is used to position the installation position of the assembly parts during assembly, the present application provides a non-contact positioning device for product assembly position positioning, a positioning method of the non-contact positioning device for product assembly position positioning, and an online monitoring method of the non-contact positioning device for product assembly position positioning. Since the assembly parts do not need to be contact installed and positioned during assembly, not only can the wear and tear of the assembly parts be reduced, but also the limitations on the size and spatial displacement of the assembly parts can be reduced, and thus the non-contact positioning device can be used to accurately position the installation position of the assembly parts and improve the positioning accuracy.

[0005] The technical solutions provided by the present application are as follows:

[0006] The present application provides a non-contact positioning device for product assembly position positioning, comprising: a first positioning body, a second positioning body, a first light source device, a second light source device, a deflection detection assembly, a translation detection assembly, an image acquisition device, and a control device.

[0007] ​The first light source device and the deflection detection component are arranged in the first positioning body and the second positioning body in cooperation, and the cooperation causes the light beam emitted by the first light source device to be incident into the image acquisition device after passing through the deflection detection component, and the image acquisition device is used to acquire the position and shape of the light beam emitted by the first light source device after passing through the deflection detection component.

[0008] The second light source device and the translation detection component are arranged in the first positioning body and the second positioning body in cooperation, and the cooperation causes the light beam emitted by the second light source device to be incident into the image acquisition device after passing through the translation detection component, and the image acquisition device is also used to acquire the position and shape of the light beam emitted by the second light source device after passing through the translation detection component.

[0009] The first positioning body is arranged in the first preset position in a non-contact manner relative to the first assembly product, and the second positioning body is arranged in the second preset position in a non-contact manner relative to the second assembly product, so that the control device positions the assembly position between the first assembly product and the second assembly product according to the position and shape of the light beam emitted by the first light source device after passing through the deflection detection component and acquired by the image acquisition device and according to the position and shape of the light beam emitted by the second light source device after passing through the translation detection component and acquired by the image acquisition device.

[0010] Further preferably, the control device positions the assembly position between the first assembly product and the second assembly product in a deflection manner according to the position and shape of the light beam emitted by the first light source device after passing through the deflection detection component and in a translation manner according to the position and shape of the light beam emitted by the second light source device after passing through the translation detection component.

[0011] Further preferably, the deflection detection component, the translation detection component, and the image acquisition device are arranged in cooperation, and the cooperation causes one image acquisition device to acquire the position and shape of the light beam emitted by the first light source device after passing through the deflection detection component and to acquire the position and shape of the light beam emitted by the second light source device after passing through the translation detection component.

[0012] Further preferably, the deflection detection component includes a first beam splitter, the translation detection component includes a second beam splitter, and the acquisition end of the image acquisition device is connected to the light emission end of the first beam splitter and the light emission end of the second beam splitter, respectively, the first beam splitter is used to cause the split light beam emitted by the first light source device after passing through the deflection detection component to be incident into the image acquisition device, and the second beam splitter is used to cause the split light beam emitted by the second light source device after passing through the translation detection component to be incident into the image acquisition device.

[0013] Further preferably, the deflection detection assembly further comprises a first mirror group and a first reflector;

[0014] The first beam splitter, the first mirror group and the first reflector are sequentially arranged along the light path of the light beam emitted by the first light source device, wherein the light beam emitted by the first light source device enters the first mirror group through the first beam splitter, the first mirror group converts the divergent light emitted by the first light source device into parallel light and then irradiates the first reflector, the light is reflected by the first reflector and then reflected by the first mirror group to the first beam splitter, and then the light is emitted by the first beam splitter to the image acquisition device.

[0015] Further preferably, the translation detection assembly further comprises a second mirror group and a reflector group;

[0016] The second mirror group, the second beam splitter and the reflector group are sequentially arranged along the light path of the light beam emitted by the second light source device, wherein the light beam emitted by the second light source device passes through the second mirror group, the second mirror group converts the divergent light emitted by the second light source device into parallel light and then irradiates the reflector group through the second beam splitter, the light is reflected by the reflector group to the second beam splitter, and then the light is emitted by the second beam splitter to the image acquisition device.

[0017] Further preferably, the reflector group comprises two reflectors, one of the two reflectors has an angle of 45° with the horizontal plane and an angle of 80° with the vertical plane, and the other reflector has an angle of -45° with the horizontal plane and an angle of -80° with the vertical plane.

[0018] Further preferably, the translation detection assembly further comprises a second mirror group and a hollow return reflector;

[0019] The second beam splitter, the second mirror group and the hollow return reflector are sequentially arranged along the light path of the light beam emitted by the second light source device, wherein the light beam emitted by the second light source device enters the second mirror group through the second beam splitter, the second mirror group converts the divergent light emitted by the second light source device into parallel light and then irradiates the hollow return reflector, the light is reflected by the hollow return reflector to the second beam splitter, and then the light is emitted by the second beam splitter to the image acquisition device.

[0020] The application also provides a positioning method for the assembly position of a product by using the above-mentioned non-contact positioning device, which comprises the following steps:

[0021] S100: install the first positioning body and the second positioning body at the first preset position and the second preset position respectively, the first preset position and the second preset position are the preset positions relative to the initial assembly position of the first assembled product and the second assembled product when the first assembled product and the second assembled product are not disassembled, the first light source device and the deflection detection assembly are matched and arranged on the first positioning body and the second positioning body, and the second light source device and the translation detection assembly are also matched and arranged;

[0022] S200: acquire an initial image of a light spot generated by the first assembled product and the second assembled product at the initial assembly position through the image acquisition device;

[0023] S300: during the re-assembly process of the first assembled product and the second assembled product after being disassembled, adjust the relative position between the first positioning body and the second positioning body, and in the adjustment process, control the image acquisition device to acquire the light beam position and the light beam shape of the light beam emitted by the first light source device after passing through the deflection detection assembly, and control the image acquisition device to acquire the light beam position and the light beam shape of the light beam emitted by the second light source device after passing through the translation detection assembly;

[0024] S400: read the light spot video acquired by the image acquisition device;

[0025] S500: extract a frame of light spot image from the read light spot video according to a preset condition;

[0026] S600: perform image processing on the extracted frame of light spot image to obtain a target image;

[0027] S700: perform consistency comparison on the centroid coordinates of the target image and the centroid coordinates of the initial image, and / or perform consistency comparison on the contour of the target image and the contour of the initial image, if the centroid coordinates of the target image are inconsistent with the centroid coordinates of the initial image, and the contour of the target image is also inconsistent with the contour of the initial image, return to step S300 until the centroid coordinates of the target image are adjusted to be consistent with the centroid coordinates of the initial image, and / or the contour of the target image is consistent with the contour of the initial image, so as to achieve the positioning of the assembly position of the first assembled product and the second assembled product in the re-assembly process.

[0028] The application also provides an online monitoring method for the positioning of the assembly position of the product by the non-contact positioning device.

[0029] S100: read the light spot video collected by the image collection device, each frame of light spot image in the light spot video is an image formed by the light beam position and the light beam shape of the light beam emitted by the first light source device after passing through the deflection detection assembly and the image collected by the image collection device, and the image formed by the light beam position and the light beam shape of the light beam emitted by the second light source device after passing through the translation detection assembly; wherein, the first light source device and the deflection detection assembly are cooperatively arranged on the first positioning body and the second positioning body, the second light source device and the translation detection assembly are cooperatively arranged on the first positioning body and the second positioning body, the first positioning body is non-contact arranged at the first preset position relative to the first assembly product, the second positioning body is non-contact arranged at the second preset position relative to the second assembly product, and the first preset position and the second preset position are the initial assembly position relative to the first assembly product and the second assembly product when the first assembly product and the second assembly product are not disassembled.

[0030] S200: extracting a frame of light spot image from the read light spot video according to a preset condition;

[0031] S300: performing image processing on the extracted frame of light spot image to obtain a target image;

[0032] S400: consistency comparison of the centroid coordinates of the target image and the centroid coordinates of the initial image, and / or consistency comparison of the contour of the target image and the contour of the initial image, if the centroid coordinates of the target image and the centroid coordinates of the initial image are inconsistent, and the contour of the target image and the contour of the initial image are also inconsistent, feedback the information that the reassembly position in the reassembly process of the first assembly product and the second assembly product does not reach the initial assembly position, and return to step S100; the initial image is the initial image of the light spot generated in the initial assembly position relative to the first assembly product and the second assembly product when the first assembly product and the second assembly product are not disassembled; the initial assembly position is the assembly position determined when the first assembly product and the second assembly product are not disassembled.

[0033] The non-contact positioning device for positioning the assembly position of the product provided by the application positions the assembly position of the product based on the combination of non-contact measurement of the light source and image processing. Since the assembly of the assembly products no longer requires contact assembly positioning, not only can the wear of the assembly products be reduced, but also the limitation of the size and space movement displacement of the assembly products can be reduced. Furthermore, the non-contact positioning device can realize accurate positioning of the assembly position of the assembly products, thereby improving the positioning accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a structural schematic view of the non-contact positioning device;

[0035] Figure 2This is a schematic diagram of the internal retaining ring structure in the light source device;

[0036] Figure 3 This is a schematic diagram of a non-contact positioning device applied to the illumination system of a lithography machine;

[0037] Figure 4 This is a schematic diagram of another non-contact positioning device.

[0038] Figure 5 for Figure 4 Schematic diagram of the internal spatial arrangement structure of the first positioning body;

[0039] Figure 6 for Figure 4 Schematic diagram of the internal spatial arrangement structure of the second positioning body;

[0040] Figure 7 This is a schematic diagram illustrating the positioning process of a product assembly position using a non-contact positioning device.

[0041] Figure 8 A schematic diagram of the online monitoring process for positioning the assembly location of a product using a non-contact positioning device;

[0042] Figure 9 This is a schematic diagram of the terminal device. Detailed Implementation

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0044] In mechanical equipment, the behavior of disassembling and then assembling some assemblies in the mechanical equipment often occurs, and the relative assembly position between the two assemblies when reassembling has a great influence on the overall performance of the mechanical equipment. In order to ensure the accuracy of the assembly position of the disassembled assemblies when reassembling, the application provides a non-contact positioning of the assembly position of the assembled product combining the concept of non-contact measurement of light source and image processing. Specifically, the assembly position information between the two assembled products is measured by non-contact measurement of light source, the corresponding light spot image is obtained, and then the image processing technology is combined to process the light spot image, and the relative assembly position relationship of the two assembled products when assembling is obtained, so as to achieve the accurate positioning of the assembly position of the two assembled products in the assembly process. Since the two assembled products do not need to be contact assembled and positioned when assembling, not only the wear of the assembled products can be reduced, but also the limitation of the size and space movement displacement of the assembled products is reduced, and then the accurate positioning of the assembly position between the assembled products can be realized by the non-contact positioning device, and the positioning accuracy is improved. The basic concept of the application will be described in detail through specific embodiments.

[0045] Embodiment one:

[0046] The embodiment provides a non-contact positioning device for positioning the assembly position of a product, which comprises a first positioning body 100, a second positioning body 200, a first light source device 300, a second light source device 400, a deflection detection assembly 500, a translation detection assembly 600, an image acquisition device 700 and a control device.

[0047] The first light source device 300 and the deflection detection assembly 500 are arranged in cooperation with the first positioning body 100 and the second positioning body 200, and the cooperation enables the light beam emitted by the first light source device 300 to be emitted into the image acquisition device 700 after passing through the deflection detection assembly 500, and the image acquisition device 700 is used to acquire the position and shape of the light beam emitted by the first light source device 300 after passing through the deflection detection assembly 500; the second light source device 400 and the translation detection assembly 600 are arranged in cooperation with the first positioning body 100 and the second positioning body 200, and the cooperation enables the light beam emitted by the second light source device 400 to be emitted into the image acquisition device 700 after passing through the translation detection assembly 600, and the image acquisition device 700 is also used to acquire the position and shape of the light beam emitted by the second light source device 400 after passing through the translation detection assembly 600; the first positioning body 100 is arranged in the first preset position in a non-contact manner relative to the first assembly product, and the second positioning body 200 is arranged in the second preset position in a non-contact manner relative to the second assembly product, so that the control device positions the assembly position between the first assembly product and the second assembly product according to the position and shape of the light beam emitted by the first light source device 300 after passing through the deflection detection assembly and according to the position and shape of the light beam emitted by the second light source device 400 after passing through the translation detection assembly 600.

[0048] Since the assembly position between the two assembly products may be deflected or translated during the assembly process, the embodiment needs to position the deflection of the assembly position and also needs to position the translation of the assembly position. Specifically, the control device positions the assembly position between the first assembly product and the second assembly product according to the position and shape of the light beam emitted by the first light source device 300 after passing through the deflection detection assembly, and positions the assembly position between the first assembly product and the second assembly product according to the position and shape of the light beam emitted by the second light source device 400 after passing through the translation detection assembly.

[0049] Further, the control device of the embodiment is a control system of the non-contact positioning device, and the control device is electrically connected with the image acquisition device 700. For example, the control device can be a PLC controller, a computer, or the like, which is independent of the non-contact positioning device. The control device realizes the positioning of the assembly position by running a corresponding control program.

[0050] In order to position the assembly position between the two assembled products, the positional relationship and relative matching relationship between the deflection detection assembly 500, the translation detection assembly 600 and the image acquisition device 700 can be designed according to actual conditions. For example, two image acquisition devices 700 can be used, one image acquisition device 700 is used in cooperation with the deflection detection assembly 500, and the other image acquisition device 700 is used in cooperation with the translation detection assembly 600. In the embodiment, the optimal cooperation of the deflection detection assembly 500, the translation detection assembly 600 and the image acquisition device 700 is designed, which enables the use of one image acquisition device 700 to acquire the light beam position and light beam shape of the light beam emitted by the first light source device 300 after passing through the deflection detection assembly 500 and the light beam position and light beam shape of the light beam emitted by the second light source device 400 after passing through the translation detection assembly 600. That is, the deflection detection assembly 500 and the translation detection assembly 600 share one image acquisition device 700. This design not only saves the cost of the non-contact positioning device, but also makes the structure design of the non-contact positioning device relatively simple.

[0051] In the embodiment, the first positioning body 100, the second positioning body 200, the first light source device 300, the second light source device 400, the deflection detection assembly 500, the translation detection assembly 600 and the image acquisition device 700 are designed, and after being assembled with each other, when the assembly position of the two assembled products needs to be positioned, the first positioning body 100 is installed at the first preset position, and the second positioning body 200 is installed at the second preset position. By adjusting the first positioning body 100 and the second positioning body 200, the requirement of whether the assembly position of the two assembled products meets the initial assembly position can be obtained based on the light spot image generated after adjustment and corresponding image processing, so as to realize the positioning of the assembly position when the assembled product is reassembled.

[0052] The related structure design of the non-contact positioning device provided in the embodiment will be described in detail below.

[0053] As shown in Figure 1 , the first positioning body 100 and the second positioning body 200 are two basic support frames of the non-contact positioning device, and related components are installed on the first positioning body 100 and the second positioning body 200.

[0054] The first light source device 300 and the second light source device 400 are of the same structure, both of which can provide a point light source, for example, the first light source device 300 and the second light source device 400 are respectively composed of a fixed top cover, a light source, an elastic washer, an inner retaining ring, a light uniformizing sheet, and an outer retaining ring, wherein the outer ring of the inner retaining ring is threaded, has a small hole in the middle to facilitate the passage of a light beam, and has four C-shaped holes around the small hole, into which a hexagonal plate can be inserted for tightening and loosening, and the structure of the inner retaining ring is as shown in Figure 2 The light beam generated by the light source is emitted after being processed by the light uniformizing sheet.

[0055] The light uniformizing sheet in the embodiment is preferably a sapphire sheet with a diameter of 10 mm, which is polished for 30 minutes by using a 5 μm diamond fixed grinding disc, and then is finely polished by using a 8000 mesh polishing paste, one side of the polished sapphire is fixed on a substrate by using beeswax, and the other side is subjected to hot-pressing film to obtain a target surface.

[0056] The deflection detection assembly 500 in the embodiment includes a first beam splitter 501, a first mirror group 502, and a first reflecting mirror 503, the translation detection assembly 600 in the embodiment includes a second beam splitter 601, a second mirror group 602, and a reflecting mirror group 603, and the image acquisition device 700 in the embodiment is a CCD camera.

[0057] The deflection detection assembly 500, the translation detection assembly 600, and the image acquisition device 700 are cooperatively installed in the following manner:

[0058] The acquisition end of the image acquisition device 700 is connected with the light splitting emission end of the first beam splitter 501 and the light splitting emission end of the second beam splitter 601, respectively, the first beam splitter 501 is used for emitting the light beam split by the deflection detection assembly 500 after the light beam emitted by the first light source device 300 into the image acquisition device 700, and the second beam splitter 602 is used for emitting the light beam split by the translation detection assembly 600 after the light beam emitted by the second light source device 400 into the image acquisition device 700.

[0059] Specifically, please refer to Figure 1 The first light source device 300 and the first beam splitter 501 are arranged on the first positioning body 100, respectively, the first mirror group 502 and the first reflecting mirror 503 are arranged on the second positioning body 200, respectively. The second light source device 400 is arranged on the second positioning body 200, the second mirror group 602, the second beam splitter 601, and the reflecting mirror group 603 are arranged on the first positioning body 100, respectively. The image acquisition device 700 is also arranged on the first positioning body 100 relative to the first beam splitter 501 and the second beam splitter 601.

[0060] Further, the first light source device 300 and the second light source device 400 are arranged on different positioning bodies respectively, for example, the first light source device 300 is arranged on the first positioning body 100 near the top, and the second light source device 400 is arranged on the second positioning body 100 near the bottom, which can avoid the interference between the two light sources, and the image acquisition device 700 can acquire the light spot images generated by the light beams with different propagation directions, so as to better identify the deflection or translation of the light beams, and further better identify the deflection or translation of the assembly position of the two assembled products.

[0061] Further, in the deflection detection assembly 500, the first mirror 503 is arranged along the vertical direction of the light path, so as to avoid the calculation complexity caused by the inclination of the first mirror 503 relative to the light path.

[0062] Further, in the translation detection assembly 600, the mirror group 603 includes two mirrors, one of which has an angle of 45° with the horizontal plane and an angle of 80° with the vertical plane, and the other has an angle of -45° with the horizontal plane and an angle of -80° with the vertical plane.

[0063] The light path arrangement and working mode of the first light source device 300, the second light source device 400, the deflection detection assembly 500 and the translation detection assembly 600 are as follows: the first beam splitter 501, the first mirror group 502 and the first mirror 503 are arranged along the light path of the light beam emitted by the first light source device 300 in sequence, wherein the light beam emitted by the first light source device 300 passes through the first beam splitter 501 and enters the first mirror group 502, the first mirror group 502 converts the divergent light emitted by the first light source device 300 into parallel light, and then the parallel light is irradiated to the first mirror 503, and then the light is reflected by the first mirror 503, reflected by the first mirror group 502 to the first beam splitter 501, and then the light enters the image acquisition device 700 through the first beam splitter 501; the second mirror group 602, the second beam splitter 601 and the mirror group 603 are arranged along the light path of the light beam emitted by the second light source device 400 in sequence, wherein the light beam emitted by the second light source device 400 passes through the second mirror group 602, the second mirror group 602 converts the divergent light emitted by the second light source device 400 into parallel light, and then the parallel light is irradiated to the mirror group 603 through the second beam splitter 601, and then the light is reflected by the mirror group 603 to the second beam splitter 601, and then the light enters the image acquisition device 700 through the second beam splitter 601.

[0064] The application of the non-contact positioning device provided in the embodiment will be illustrated below by taking the illumination system in a photoetching machine as an example.

[0065] As Figure 3As shown, the illumination system in the lithography machine includes a top module 1 and a bottom module 2. When the developed illumination system needs to be transported to the whole machine unit for assembly (the whole machine unit refers to a unit integrating multiple components such as the illumination system, the objective lens system, the laser system, and the like into a complete lithography machine), due to the relatively large overall structure of the illumination system, the top module 1 and the bottom module 2 need to be split, and then the split top module 1 and the bottom module 2 are assembled again in the whole machine unit. Due to the particularity of the lithography machine, the assembly position requirements for the reassembly of the components are very strict. Therefore, in order to achieve accurate positioning of the assembly position of the reassembly of the top module 1 and the bottom module 2, the first positioning body 100 is installed at the first preset position (the position of label A) of the bottom module 2, and the second positioning body 200 is installed at the second preset position (the position of label B) of the top module 1. Through the first positioning body 100 and the second positioning body 200 and according to the above structure design and optical path design, non-contact positioning of the assembly position of the reassembly of the top module 1 and the bottom module 2 is achieved.

[0066] When the assembly position of the two assembled products needs to be positioned, the first positioning body 100 is installed at the first preset position, and the second positioning body 200 is installed at the second preset position. Through adjustment of the first positioning body 100 and the second positioning body 200, based on the light spot image generated after the adjustment and corresponding image processing, whether the assembly position of the two assembled products meets the requirements of the initial assembly position can be obtained, thereby achieving positioning of the assembly position of the reassembly of the assembled products. Since contact assembly positioning is no longer required when the assembled products are assembled, not only can the wear of the assembled products be reduced, but also the limitation on the size and space movement displacement of the assembled products can be reduced, thereby achieving accurate positioning of the assembly position of the assembled products through the non-contact positioning device and improving the positioning accuracy.

[0067] Embodiment Two:

[0068] Based on Embodiment One, another non-contact positioning device with a variant structure is provided in this embodiment, and a structural diagram thereof is shown in Figure 4 This embodiment is based on the components of the non-contact positioning device provided in Embodiment One, and the spatial arrangement of some components is adjusted.

[0069] Specifically, different from the first embodiment, in the present embodiment, the first light source device 300 and the second light source device 400 are arranged on the same positioning body, for example, the first light source device 300 and the second light source device 400 are arranged on the first positioning body 100, and the first mirror 501 and the first mirror group 502 in the deflection detection assembly 500 are arranged on the first positioning body 100, and the second mirror 601 and the second mirror group 602 in the translation detection assembly 600 are arranged on the first positioning body 100, and the image acquisition device 700 is arranged on the first positioning body 100 relative to the first mirror 501 and the second mirror 601, as shown in Figure 5 .

[0070] Further, different from the first embodiment, the feedback mirror group composed of two mirrors is not used in the translation detection assembly 600 of the present embodiment, but a hollow return reflector 604 is used, which, like the corner cube prism, can reflect all the incident light and return to the original incident direction optical element.

[0071] In the present embodiment, the first mirror 503 of the deflection detection assembly 500 and the hollow return reflector 604 of the translation detection assembly 600 are arranged on the second positioning body 200, as shown in Figure 6 .

[0072] The optical path design and working mode of the deflection detection assembly 500 are described in the first embodiment, which will not be repeated here.

[0073] The optical path design and working mode of the translation detection assembly 600 are as follows: the second mirror 601, the second mirror group 602 and the hollow return reflector 604 are arranged in sequence along the optical path of the emission beam of the second light source device 400, wherein the light beam emitted by the second light source device 400 enters the second mirror group 602 through the second mirror 601, the second mirror group 602 converts the divergent light emitted by the second light source device 400 into parallel light, and then irradiates the hollow return reflector 604, and then the hollow return reflector 604 reflects the light to the second mirror 604, and then the light enters the image acquisition device 700 through the second mirror 601.

[0074] With the non-contact positioning device provided in this embodiment, when it is necessary to position the assembly position of two assembled products, the first positioning body 100 can be installed in the first preset position and the second positioning body 200 can be installed in the second preset position. By adjusting the first positioning body 100 and the second positioning body 200, and based on the light spot image generated after adjustment and performing corresponding image processing, it can be determined whether the assembly position of the two assembled products meets the requirements of the initial assembly position, thereby realizing the positioning of the assembly position when the assembled products are reassembled. Since contact assembly positioning is no longer required when assembling the assembled products, it can not only reduce the wear of the assembled products, but also reduce the restrictions on the size and spatial movement displacement of the assembled products. Thus, the non-contact positioning device can realize the accurate positioning of the assembly position between the assembled products and improve the positioning accuracy.

[0075] Example 3:

[0076] Based on the non-contact positioning devices provided in Embodiments 1 and 2, this embodiment provides a method for positioning product components using the non-contact positioning device, the flowchart of which is shown below. Figure 7 As shown, the specific steps include the following.

[0077] S100: Install the first positioning body and the second positioning body at the first preset position and the second preset position, respectively.

[0078] The first preset position and the second preset position are the preset positions where the initial assembly positions of the first assembled product and the second assembled product are relatively determined when they are not disassembled. The first positioning body and the second positioning body are equipped with a first light source device and a deflection detection component, and are also equipped with a second light source device and a translation detection component. For the cooperative design of the first positioning body, the second positioning body, the first light source device, the second light source device, the deflection detection component, and the translation detection component, please refer to Embodiment 1 or Embodiment 2. This embodiment will not be described in detail.

[0079] S200: Acquire an initial image of the light spot generated when the first and second assembled products are in their initial assembly positions using an image acquisition device.

[0080] S300: During the process of reassembling the first and second assembled products after separation, the relative positions between the first and second positioning bodies are adjusted. During the adjustment, the image acquisition device is controlled in real time to acquire the position and shape of the beam emitted by the first light source device after passing through the deflection detection component, and the image acquisition device is controlled to acquire the position and shape of the beam emitted by the second light source device after passing through the translation detection component.

[0081] For the propagation process of the light beam emitted by the first light source device and the propagation process of the light beam emitted by the first light source device, please refer to Embodiment One or Embodiment Two, which will not be repeated here.

[0082] S400: reading the light spot video collected by the image collection device.

[0083] S500: extracting a frame of light spot image from the read light spot video according to a preset condition.

[0084] For example, a frame of light spot image is extracted every 0.05s.

[0085] S600: performing image processing on the extracted frame of light spot image to obtain a target image.

[0086] In this step, the image processing involved includes binarization processing, background noise reduction processing, and feature extraction processing.

[0087] For example, the extracted light spot image is subjected to binarization judgment, and if the light spot image is not a binarized image, binarization processing is performed.

[0088] The image with the target is subjected to background noise reduction processing using the picture collected by the image collection device when the light source is not turned on as the background.

[0089] S700: consistency comparison of the centroid coordinates of the target image and the centroid coordinates of the initial image, and / or consistency comparison of the contour of the target image and the contour of the initial image, if the centroid coordinates of the target image and the centroid coordinates of the initial image are inconsistent, and the contour of the target image and the contour of the initial image are also inconsistent, return to step S300 until the centroid coordinates of the target image are adjusted to be consistent with the centroid coordinates of the initial image, and / or the contour of the target image is consistent with the contour of the initial image, to achieve positioning of the assembly position in the reassembly process of the first assembled product and the second assembled product.

[0090] In this embodiment, the target image centroid coordinate is obtained by matching the pixel point coordinates of the target image with the gray value to calculate the target image centroid coordinate. Specifically, the product of the X-axis coordinate and the gray value of the target image is calculated, and then accumulated. The accumulated value is divided by the sum of the X-axis coordinates to obtain the X-axis centroid coordinate. Similarly, the Y-axis centroid coordinate can be obtained.

[0091] The contour of the target image is obtained by the edge extraction method, and then the obtained contour is subjected to interpolation fitting to obtain the function of the target image contour.

[0092] Since the amount of information to be compared is large and the requirement is high when comparing the contour of the target image with the contour of the initial image, in the present embodiment, it is preferred to determine whether the centroid coordinates of the target image are consistent with the centroid coordinates of the initial image, if the two are consistent, it is directly determined that the assembly position of the first assembly product and the second assembly product after reassembly meets the requirement of the initial assembly position, if it is determined that the centroid coordinates of the target image are inconsistent with the centroid coordinates of the initial image, it is further determined whether the contour of the target image is consistent with the contour of the initial image, if the two are consistent, it can also be determined that the assembly position of the first assembly product and the second assembly product after reassembly meets the requirement of the initial assembly position, if the centroid coordinates of the target image are inconsistent with the centroid coordinates of the initial image, and the contour of the target image is also inconsistent with the contour of the initial image, it is determined that the assembly position of the first assembly product and the second assembly product after reassembly does not meet the requirement of the initial assembly position, and the first positioning body and the second positioning body need to be continuously adjusted.

[0093] In other embodiments, different comparison schemes can be used according to different application scenarios, for example, in one embodiment, only the centroid coordinates of the target image and the centroid coordinates of the initial image can be compared for consistency; in another embodiment, only the contour of the target image and the contour of the initial image can be compared for consistency; in another embodiment, the centroid coordinates of the target image and the centroid coordinates of the initial image are compared for consistency, and at the same time, the contour of the target image and the contour of the initial image are compared for consistency.

[0094] The non-contact positioning device provided in the present embodiment provides a product assembly position positioning method, when the assembly positions of two assembly products need to be positioned, the first positioning body 100 is installed at the first preset position, and the second positioning body 200 is installed at the second preset position, by adjusting the first positioning body 100 and the second positioning body 200, based on the light spot image generated after the adjustment and performing corresponding image processing on the light spot image, whether the assembly position of the two assembly products meets the requirement of the initial assembly position can be obtained, thereby realizing the non-contact positioning of the assembly position when the assembly products are reassembled; since the assembly products no longer need to be contact assembled and positioned, not only the wear of the assembly products can be reduced, but also the limitation on the size and space movement displacement of the assembly products is reduced, and then the precise positioning of the assembly position between the assembly products can be realized through the non-contact positioning device, and the positioning accuracy is improved.

[0095] Embodiment four:

[0096] Based on embodiment one and embodiment two, the present embodiment provides an online monitoring method of the product assembly position positioning of the non-contact positioning device, a flow chart thereof is shown in Figure 8 , and specifically includes the following steps.

[0097] S100: read the light spot video collected by the image collection device.

[0098] Each frame of light spot image in the light spot video is an image formed by the light beam position and light beam shape of the light beam emitted by the first light source device after passing through the deflection detection assembly, and an image formed by the light beam position and light beam shape of the light beam emitted by the second light source device after passing through the translation detection assembly, which are collected by the image collection device; wherein the first light source device and the deflection detection assembly are cooperatively arranged on the first positioning body and the second positioning body, the second light source device and the translation detection assembly are cooperatively arranged on the first positioning body and the second positioning body, the first positioning body is non-contact arranged at the first preset position relative to the first assembly product, the second positioning body is non-contact arranged at the second preset position relative to the second assembly product, and the first preset position and the second preset position are the relative predetermined positions of the initial assembly position of the first assembly product and the second assembly product when they are not disassembled.

[0099] The mutual cooperation of the first positioning body, the second positioning body, the first light source device, the second light source device, the deflection detection assembly, the translation detection assembly and the image collection device is described in Embodiment One or Embodiment Two, which will not be repeated here.

[0100] S200: extract a frame of light spot image from the read light spot video according to a predetermined condition.

[0101] For example, a frame of light spot image is extracted every 0.05s.

[0102] S300: perform image processing on the extracted frame of light spot image to obtain a target image.

[0103] In this step, the image processing includes binarization processing, background noise reduction processing and feature extraction processing.

[0104] For example, the extracted light spot image is subjected to binarization judgment, and if the light spot image is not a binarized image, binarization processing is performed.

[0105] The image with the target is subjected to background noise reduction processing using the image collected by the image collection device when the light source is not turned on as the background.

[0106] S400: consistency comparison is made between the centroid coordinates of the target image and the centroid coordinates of the initial image, and / or consistency comparison is made between the contour of the target image and the contour of the initial image; if the centroid coordinates of the target image are inconsistent with the centroid coordinates of the initial image, and the contour of the target image is also inconsistent with the contour of the initial image, information is fed back that the re-assembly position in the re-assembly process of the first assembled product and the second assembled product does not reach the initial assembly position, and the step S100 is returned; the initial image is an initial image of a light spot generated in a state where the initial assembly position of the first assembled product and the second assembled product is relatively determined when the first assembled product and the second assembled product are not disassembled; the initial assembly position is an assembly position determined when the first assembled product and the second assembled product are not disassembled.

[0107] In the embodiment, the centroid coordinates of the target image are obtained by matching the pixel point coordinates of the target image with the gray value to calculate the centroid coordinates of the target image; specifically, the product of the coordinates on the X axis of the target image and the gray value is calculated, and then the sum is accumulated, and the sum after the accumulation is divided by the sum of the X axis coordinates to obtain the centroid coordinates of the X axis; the centroid coordinates of the Y axis can be obtained in the same way.

[0108] The contour of the target image is obtained by an edge extraction method, and then the obtained contour is fitted by an interpolation method to obtain a function of the contour of the target image.

[0109] Since the amount of information to be compared is large and the requirement is high when the contour of the target image is compared with the contour of the initial image, in the embodiment, it is preferred to determine whether the centroid coordinates of the target image are consistent with the centroid coordinates of the initial image; if they are consistent, it is directly determined that the assembly position of the re-assembly of the first assembled product and the second assembled product meets the requirement of the initial assembly position; if it is determined that the centroid coordinates of the target image are inconsistent with the centroid coordinates of the initial image, it is further determined whether the contour of the target image is consistent with the contour of the initial image; if they are consistent, it can also be determined that the assembly position of the re-assembly of the first assembled product and the second assembled product meets the requirement of the initial assembly position; if the centroid coordinates of the target image are inconsistent with the centroid coordinates of the initial image, and the contour of the target image is also inconsistent with the contour of the initial image, it is determined that the assembly position of the re-assembly of the first assembled product and the second assembled product does not meet the requirement of the initial assembly position, and the determination result is fed back in the form of display.

[0110] In other embodiments, the centroid coordinates of the target image and the centroid coordinates of the initial image can also be directly displayed on the display respectively, or the contour of the target image and the contour of the initial image can also be directly displayed on the display respectively, so that the staff can intuitively monitor whether the assembly position of the re-assembly of the first assembled product and the second assembled product meets the requirement of the initial assembly position by observing the display result of the interface on the display.

[0111] In other embodiments, different comparison schemes can be adopted according to different application scenarios, for example, in one embodiment, only the centroid coordinates of the target image and the centroid coordinates of the initial image can be compared for consistency; in another embodiment, only the contour of the target image and the contour of the initial image can be compared for consistency; in another embodiment, the centroid coordinates of the target image and the centroid coordinates of the initial image are compared for consistency, and at the same time, the contour of the target image and the contour of the initial image are compared for consistency.

[0112] The online monitoring method for product assembly position provided by the non-contact positioning device can enable the worker to timely and objectively monitor whether the assembly position of the first assembled product and the second assembled product after reassembly meets the requirement of the initial assembly position, thereby avoiding subjective judgment of the worker and greatly simplifying the monitoring work of the worker and reducing the professional requirement of the worker.

[0113] Embodiment Five

[0114] Based on Embodiment Three and Embodiment Four, the present embodiment provides a terminal device, a schematic diagram of the terminal device is shown in Figure 9 The terminal device 800 can also be referred to as a portable terminal, a laptop terminal, a desktop terminal, or other names.

[0115] Generally, the terminal device 800 includes a processor 8001 and a memory 8002, the processor 8001 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 8001 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), a FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 8001 can also include a main processor and a coprocessor, the main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state.

[0116] In some embodiments, the processor 8001 can be integrated with a GPU (Graphics Processing Unit) for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 6001 can further include an AI (Artificial Intelligence) processor for processing the computing operation related to machine learning.

[0117] The memory 8002 can include one or more computer-readable storage media that can be non-transitory. The memory 8002 can also include high-speed random access memory and nonvolatile, computer-readable storage media such as one or more disk storage devices, flash memory devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 8002 is used to store at least one instruction, at least one program, a code set or instruction set for being executed by the processor 8001 to implement the positioning method provided in Embodiment Three or the online monitoring method provided in Embodiment Four.

[0118] Therefore, when the terminal device 800 of the present application executes the positioning method provided in Embodiment Three through at least one instruction, at least one program, a code set or instruction set, the following advantages are achieved:

[0119] When the assembly positions of the two assembled products need to be positioned, the first positioning body 100 can be installed at the first preset position, and the second positioning body 200 can be installed at the second preset position. By adjusting the first positioning body 100 and the second positioning body 200, based on the light spot image generated after the adjustment and performing corresponding image processing on it, whether the assembly position of the two assembled products meets the requirement of the initial assembly position can be obtained, thereby realizing the non-contact positioning of the assembly position when the assembled products are reassembled. Since the contact type assembly positioning is no longer required when the assembled products are assembled, not only the wear of the assembled products can be reduced, but also the limitation on the size and space movement displacement of the assembled products is reduced, thereby the precise positioning of the assembly position between the assembled products can be realized through the non-contact positioning device, and the positioning accuracy is improved.

[0120] When the terminal device 800 of the present application executes the online monitoring method provided in Embodiment Four through at least one instruction, at least one program, a code set or instruction set, the following advantages are achieved:

[0121] The staff can timely and objectively monitor whether the assembly position of the first assembled product and the second assembled product after reassembly meets the requirement of the initial assembly position, which not only avoids the subjective judgment of the staff, but also greatly simplifies the monitoring work of the staff and reduces the professional requirements of the staff.

[0122] In some embodiments, the terminal device 800 can also optionally include a peripheral device interface 8003 and at least one peripheral device. The processor 8001, the memory 8002 and the peripheral device interface 8003 can be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 8003 through a bus, a signal line or a circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit 8004, a touch display screen 8005, a camera 8006, an audio circuit 8007, a positioning component 8008 and a power supply 8009.

[0123] The application further provides a computer readable storage medium, which can be a non-volatile computer readable storage medium or a volatile computer readable storage medium. The computer readable storage medium stores instructions, and when the instructions are run on a computer, the computer executes the positioning method provided in Embodiment Three or the online monitoring method provided in Embodiment Four.

[0124] The above application of specific examples to the application is described, which is only used to help understand the application and does not limit the application. For those skilled in the art to which the application belongs, according to the idea of the application, several simple deductions, deformations or substitutions can be made.

Claims

1. A non-contact positioning device for locating the assembly position of a product, characterized in that, include: The system comprises a first positioning body, a second positioning body, a first light source device, a second light source device, a deflection detection component, a translation detection component, an image acquisition device, and a control device. The first light source device and the deflection detection component are disposed in cooperation on the first positioning body and the second positioning body. The cooperation allows the light beam emitted by the first light source device to enter the image acquisition device after passing through the deflection detection component. The image acquisition device is used to acquire the position and shape of the light beam emitted by the first light source device after passing through the deflection detection component. The second light source device and the translation detection component are configured together on the first positioning body and the second positioning body. The combination causes the light beam emitted by the second light source device to enter the image acquisition device after passing through the translation detection component. The image acquisition device is also used to acquire the position and shape of the light beam emitted by the second light source device after passing through the translation detection component. The first positioning body is non-contactly positioned at a first preset position relative to the first assembled product, and the second positioning body is non-contactly positioned at a second preset position relative to the second assembled product, so that the control device positions the assembly position between the first assembled product and the second assembled product according to the position and shape of the beam emitted by the first light source device after passing through the deflection detection component and the position and shape of the beam emitted by the second light source device after passing through the translation detection component. The deflection detection component further includes a first beam splitter, a first mirror group, and a first reflecting mirror; The first beam splitter, the first mirror group, and the first reflector are arranged sequentially along the optical path of the emitted beam from the first light source device. The beam emitted by the first light source device enters the first mirror group through the first beam splitter. The first mirror group converts the divergent light emitted by the first light source device into parallel light and then illuminates the first reflector. The light is then reflected by the first reflector and reflected by the first mirror group back to the first beam splitter, and finally enters the image acquisition device through the first beam splitter. The translation detection component further includes: a second beam splitter, a second mirror group, and a reflecting mirror group; The second mirror group, the second beam splitter, and the reflector group are arranged sequentially along the optical path of the emitted beam of the second light source device. The beam emitted by the second light source device passes through the second mirror group. The second mirror group converts the divergent light emitted by the second light source device into parallel light, which is then irradiated by the second beam splitter to the reflector group. The light is then reflected by the reflector group to the second beam splitter and then into the image acquisition device through the second beam splitter. Alternatively, the translation detection component may include a second beam splitter, a second mirror group, and a hollow retroreflector; the second beam splitter, the second mirror group, and the hollow retroreflector are arranged sequentially along the optical path of the emitted beam from the second light source device, wherein the beam emitted by the second light source device enters the second mirror group through the second beam splitter, the second mirror group converts the divergent light emitted by the second light source device into parallel light and then illuminates the hollow retroreflector, which then reflects the light back to the second beam splitter, and finally the beam enters the image acquisition device through the second beam splitter.

2. The non-contact positioning device as described in claim 1, characterized in that, The control device deflects and positions the assembly position between the first and second assembled products based on the position and shape of the beam emitted by the first light source device after passing through the deflection detection component, and translates and positions the assembly position between the first and second assembled products based on the position and shape of the beam emitted by the second light source device after passing through the translation detection component.

3. The non-contact positioning device as described in claim 1, characterized in that, The deflection detection component, translation detection component, and image acquisition device are configured in cooperation, such that one of the image acquisition devices can acquire the position and shape of the light beam emitted by the first light source device after passing through the deflection detection component, and acquire the position and shape of the light beam emitted by the second light source device after passing through the translation detection component.

4. The non-contact positioning device as described in claim 3, characterized in that, The deflection detection component includes a first beam splitter, and the translation detection component includes a second beam splitter. The acquisition end of the image acquisition device is connected to the beam-splitting output ends of the first beam splitter and the second beam splitter, respectively. The first beam splitter is used to direct the beam emitted by the first light source device, after passing through the deflection detection component, into the image acquisition device. The second beam splitter is used to direct the beam emitted by the second light source device, after passing through the translation detection component, into the image acquisition device.

5. The non-contact positioning device as described in claim 1, characterized in that, The reflector assembly includes two reflectors. One of the reflectors has an angle of 45° with the horizontal plane and an angle of 80° with the vertical plane. The other reflector has an angle of -45° with the horizontal plane and an angle of -80° with the vertical plane.

6. A method for positioning a product assembly position using a non-contact positioning device as described in any one of claims 1-5, characterized in that, Including the following steps: S100: The first positioning body and the second positioning body are respectively installed in the first preset position and the second preset position. The first preset position and the second preset position are the preset positions where the initial assembly positions of the first assembly product and the second assembly product are relatively determined when they are not disassembled. The first positioning body and the second positioning body are equipped with a first light source device and a deflection detection component, and are also equipped with a second light source device and a translation detection component. S200: Acquire an initial image of the light spot generated when the first assembled product and the second assembled product are in the initial assembly position using an image acquisition device; S300: During the process of reassembling the first and second assembled products after they are separated, the relative position between the first positioning body and the second positioning body is adjusted. During the adjustment, the image acquisition device is controlled in real time to acquire the position and shape of the beam emitted by the first light source device after passing through the deflection detection component, and the image acquisition device is controlled to acquire the position and shape of the beam emitted by the second light source device after passing through the translation detection component. S400: Reads the light spot video captured by the image acquisition device; S500: Extract a frame of light spot image from the read light spot video according to preset conditions; S600: Perform image processing on the extracted frame of light spot image to obtain the target image; S700: Compare the centroid coordinates of the target image with the centroid coordinates of the initial image, and / or compare the contour of the target image with the contour of the initial image. If the centroid coordinates of the target image are inconsistent with the centroid coordinates of the initial image, and the contour of the target image is also inconsistent with the contour of the initial image, then return to step S300 until the centroid coordinates of the target image are adjusted to be consistent with the centroid coordinates of the initial image, and / or the contour of the target image is consistent with the contour of the initial image, so as to achieve the positioning of the assembly position during the reassembly of the first assembly product and the second assembly product.

7. An online monitoring method for product assembly position positioning using a non-contact positioning device as described in any one of claims 1-6, characterized in that, Including the following steps: S100: Read the light spot video acquired by the image acquisition device. Each frame of the light spot video is an image formed by the position and shape of the light beam emitted by the first light source device after passing through the deflection detection component, and an image formed by the position and shape of the light beam emitted by the second light source device after passing through the translation detection component. The first light source device and the deflection detection component are configured together on the first positioning body and the second positioning body. The second light source device and the translation detection component are configured together on the first positioning body and the second positioning body. The first positioning body is non-contactly positioned at the first preset position relative to the first assembled product. The second positioning body is non-contactly positioned at the second preset position relative to the second assembled product. The first preset position and the second preset position are preset positions where the initial assembly positions of the first assembled product and the second assembled product are relatively determined when they are not disassembled. S200: Extract a frame of light spot image from the read light spot video according to preset conditions; S300: Perform image processing on the extracted one-frame light spot image to obtain the target image; S400: Compare the centroid coordinates of the target image with the centroid coordinates of the initial image, and / or compare the contour of the target image with the contour of the initial image. If the centroid coordinates of the target image are inconsistent with the centroid coordinates of the initial image, and the contour of the target image is also inconsistent with the contour of the initial image, then feedback is given that the reassembly position of the first assembled product and the second assembled product has not reached the initial assembly position, and the process returns to step S100. The initial image is the initial image of the light spot generated when the first assembled product and the second assembled product are not separated and their initial assembly positions are relatively determined. The initial assembly position is the assembly position determined when the first assembled product and the second assembled product are not separated.

Images