A grazing incidence binocular vision positioning assembly method and positioning device

Abstract

The application discloses a grazing incidence binocular vision positioning assembly method and a positioning device, relates to the technical field of instrument precision assembly, and solves the technical problems of the existing vision system needing to be recalibrated at regular time intervals, high time cost and low assembly efficiency. The method comprises the following steps: S100, one of the elements is moved on the X axis and the Y axis for multiple times, at least one camera is used to take a picture each time, and a first corresponding relationship between a physical coordinate system and a camera coordinate system of each camera on the X axis and the Y axis is established; and S200, one of the elements is rotated around the X axis and the Y axis for multiple times, at least one camera is used to take a picture each time, and a second corresponding relationship between the physical coordinate system and the camera coordinate system of each camera on the X axis and the Y axis is established. According to the corresponding relationship between the physical coordinate system and the camera coordinate system established by the application, the precision element can be directly assembled, recalibration is not needed in the assembly process, time cost is saved, and the assembly efficiency of the element is improved.

Description

Technical Field

[0001] This invention relates to the field of precision instrument assembly technology, and in particular to a grazing incidence binocular vision positioning assembly method and positioning device. Background Technology

[0002] In high-precision automated assembly applications of image sensors and lenses, the tilt and translation positions of the lens relative to the sensor are subject to strict requirements. In automated assembly applications of micro-sized optical components (generally referring to components smaller than one millimeter), optical components often need to be assembled into a hole or aperture, requiring positioning based on the shape of the optical component and the internal shape of the aperture for assembly.

[0003] Currently, the common method is manual assembly using tweezers under a stereo microscope. This is inefficient and prone to damaging the product. With the increasing demand for optical communication products, the current efficiency is no longer sufficient to meet customer needs, making automation an imperative. Traditional automated imaging uses backlighting or similar configurations to photograph the shape of the optical components, while simultaneously photographing the internal shape of the assembled holes using another vision system. This allows for positioning of both components and subsequent assembly at a third location. The main problem with this approach is the high precision required for the motion system. Since the assembly tolerance of optical components is often around 20 micrometers, the motion system needs to be 1-2 micrometers accurate, resulting in high costs. Another issue is that the two vision systems need to be recalibrated periodically. Otherwise, as the operating time increases, slight movements in the two vision systems can cause calibration data drift, ultimately leading to alignment misalignment and assembly failure. This results in high time costs and low efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a grazing incidence binocular vision positioning assembly method and positioning device to solve the technical problems in the prior art where the vision system needs to be recalibrated periodically, resulting in high time costs and low assembly efficiency.

[0005] The preferred technical solutions among the many technical solutions provided by this invention can produce a variety of technical effects, which are described in detail below.

[0006] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a grazing incidence binocular vision positioning and assembly method for positioning and assembling two components, specifically including the following steps: S100. Move one of the components multiple times on the X-axis and Y-axis, and take pictures with at least one camera each time. Establish the first correspondence between the physical coordinate system and the camera coordinate system of each camera on the X-axis and Y-axis. S200. Rotate one of the components around the X-axis and Y-axis multiple times, and take pictures using at least one camera each time the rotation is performed, and establish a second correspondence between the physical coordinate system and the camera coordinate system of each camera on the X-axis and Y-axis. S300. Randomly place the two components at the assembly position, acquire the initial position images of the two components through a camera, calculate the rotation compensation angle of one of the components according to the set first position relationship and the second correspondence relationship, and adjust the one of the components to the first position relationship according to the rotation compensation angle. S400. Based on the set second position relationship, the initial position image, and the first correspondence relationship, calculate the planar compensation distance of one of the elements, and adjust the one of the elements to the second position relationship according to the planar compensation distance; S500, one component is placed downwards into another component for assembly.

[0007] Preferably, the specific steps of S100 are as follows: S110. Let the position of one component relative to another component on the X-axis and Y-axis be the initial position. Use the camera to take a picture of the component and obtain the initial coordinates of the initial position in the camera coordinate system. S120. Referring to the initial position, move one of the components multiple times along the X-axis and Y-axis by a fixed length to obtain multiple first coordinates based on the physical coordinate system; S130. The element takes pictures using the camera during multiple movements, and obtains the movement coordinates based on the initial coordinates in the image captured by each camera, thereby obtaining multiple second coordinates based on the camera coordinate system. S140. Establish the correspondence between the first coordinate and the second coordinate.

[0008] Preferably, the specific steps of S200 are as follows: S210. Let the position of one component relative to another component on the X-axis and Y-axis be the initial position. Use the camera to take a picture of the component and obtain the initial coordinates of the initial position in the camera coordinate system. S220. Referring to the initial position, rotate one of the components multiple times along the X-axis and Y-axis at fixed angles to obtain multiple third coordinates based on the physical coordinate system; S230. The element takes pictures using the camera during multiple rotations, and obtains the rotation coordinates based on the initial coordinates in the image captured by each camera, thereby obtaining multiple fourth coordinates based on the camera coordinate system. S240. Establish the correspondence between the third coordinate and the fourth coordinate.

[0009] Preferably, the correspondence between the first and second coordinates is a first correspondence; the correspondence between the third and fourth coordinates is a second correspondence; the formula for the correspondence is: M2=M M1; M1 is the deviation value of the initial coordinates corresponding to the image captured by the element in the camera coordinate system; M2 is the compensation value of the initial position of the element in the physical coordinate system; M is the transformation matrix for transforming the camera coordinate system to the physical coordinate system.

[0010] Preferably, the first positional relationship in step S300 is: the side or vertical center line of one element is perpendicular to the upper surface or horizontal section of the other element; The second positional relationship in step S400 is: the vertical center line of one element coincides with the vertical center line of the other element.

[0011] A grazing incidence binocular vision positioning device, characterized in that it is used to perform any of the above-described grazing incidence binocular vision positioning assembly methods, comprising: an X-axis motion mechanism, a Y-axis motion mechanism, a Z-axis motion mechanism, an X-axis rotation mechanism, a Y-axis rotation mechanism, and a component adsorption device; The X-axis motion mechanism and the Y-axis motion mechanism are located at one end of the Z-axis motion mechanism; activating the X-axis motion mechanism can drive the Y-axis motion mechanism and the Z-axis motion mechanism to move along the X-axis, and activating the Y-axis motion mechanism can drive the X-axis motion mechanism and the Z-axis motion mechanism to move along the Y-axis. The X-axis rotation mechanism and the Y-axis rotation mechanism are located at the other end of the Z-axis motion mechanism. The X-axis rotation mechanism and the Y-axis rotation mechanism are movably connected. The component adsorption device is fixedly connected to the X-axis rotation mechanism. Activating the X-axis rotation mechanism can drive the component adsorption device to rotate along the X-axis. Activating the Y-axis rotation mechanism can drive the component adsorption device to rotate along the Y-axis.

[0012] Preferably, the positioning device further includes a first light source and a second light source, both of which operate in backlight mode.

[0013] Preferably, the positioning device further includes a first camera and a second camera, and the element includes a first element and a second element. The first camera and the second camera are capable of taking pictures of the first element and the second element respectively under the action of the first light source and the second light source. When the element moves or rotates, the camera takes at least five sets of position images of the first element and the second element.

[0014] Preferably, the angle between the plane formed by the first camera, the second camera and the X-axis motion mechanism is 0 to 70 degrees, and the angle between the first camera and the second camera on the same plane is 0 to 170 degrees.

[0015] Preferably, the positioning device further includes a control unit, which is capable of controlling the X-axis motion mechanism, Y-axis motion mechanism, Z-axis motion mechanism, X-axis rotation mechanism and Y-axis rotation mechanism to move or rotate.

[0016] Implementing one of the above-described technical solutions of the present invention has the following advantages or beneficial effects: This invention allows for the direct assembly of the first and second components based on the correspondence between the physical coordinate system and the camera coordinate system. This eliminates the need for repeated adjustments to the correspondence and recalibration of the components during the assembly process, saving time and reducing the probability of assembly failure while improving the assembly efficiency of the components. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is a first flowchart of an embodiment of the grazing incidence binocular vision positioning and assembly method of the present invention; Figure 2 This is a second flowchart of an embodiment of the grazing incidence binocular vision positioning and assembly method of the present invention; Figure 3 It is an image of the initial assembly position of the components captured by the camera in the grazing incidence binocular vision positioning and assembly method of the present invention; Figure 4 These are images captured by the first camera after the components have been moved a fixed length in the grazing incidence binocular vision positioning assembly method of the present invention. Figure 5 These are images captured by the second camera after the components have been moved a fixed length in the grazing incidence binocular vision positioning assembly method of the present invention. Figure 6 This is the third flowchart of an embodiment of the grazing incidence binocular vision positioning and assembly method of the present invention; Figure 7 This is a diagram showing the component rotation angles in the grazing incidence binocular vision positioning assembly method of the present invention; Figure 8 These are images of components during rotation in the grazing incidence binocular vision positioning and assembly method of this invention; Figure 9 This is an image of the first element and the second element in the first positional relationship in the grazing incidence binocular vision positioning assembly method of the present invention; Figure 10These are images of components during the translation process in the grazing incidence binocular vision positioning and assembly method of this invention; Figure 11 This is an image of the first and second elements in the second positional relationship in the grazing incidence binocular vision positioning assembly method of the present invention; Figure 12 This is a schematic diagram of the overall structure of an embodiment of the grazing incidence binocular vision positioning device of the present invention.

[0018] In the diagram: 1. Component; 11. First component; 12. Second component; 2. Camera; 21. First camera; 22. Second camera; 3. First light source; 4. Second light source; 5. X-axis motion mechanism; 51. Y-axis motion mechanism; 52. Z-axis motion mechanism; 6. X-axis rotation mechanism; 61. Y-axis rotation mechanism; 7. Component adsorption device; 71. Connector; 72. Nozzle. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the present invention clearer, various exemplary embodiments described below will be referenced to the accompanying drawings, which form part of the exemplary embodiments, illustrating various exemplary embodiments that may be used to implement the present invention. Unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. It should be understood that they are merely examples of processes, methods, and apparatuses consistent with some aspects of the present invention disclosed as detailed in the appended claims, and other embodiments may be used, or structural and functional modifications may be made to the embodiments listed herein without departing from the scope and spirit of the present invention.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," etc., indicate the orientation or positional relationship based on the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the referred element must have a specific orientation, or be constructed and operated in a specific orientation. The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. The term "a plurality" means two or more. The terms "connected" and "linked" should be interpreted broadly, for example, they can refer to fixed connections, detachable connections, integral connections, mechanical connections, electrical connections, communication connections, direct connections, indirect connections through an intermediate medium, and can refer to the internal communication of two elements or the interaction relationship between two elements. The term "and / or" includes any and all combinations of one or more of the related listed items. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] To illustrate the technical solution described in this invention, specific embodiments are described below, showing only the parts related to the embodiments of this invention.

[0022] Example 1: like Figure 1 As shown, this invention provides a grazing incidence binocular vision positioning and assembly method for positioning and assembling two components, such as... Figure 1 As shown, the specific steps include: S100. Move one of the components multiple times along the X and Y axes, taking pictures with at least one camera each time, and establish the first correspondence between the physical coordinate system and the camera coordinate system of each camera along the X and Y axes. S200. Rotate one of the components around the X-axis and Y-axis multiple times, and take pictures with at least one camera each time. Establish a second correspondence between the physical coordinate system and the camera coordinate system of each camera on the X-axis and Y-axis. S300. Randomly place two components at the assembly position, acquire initial position images of the two components through a camera, calculate the rotation compensation angle of one of the components according to the set first position relationship and second correspondence relationship, and adjust one of the components to the first position relationship according to the rotation compensation angle. S400: Based on the set second position relationship, the initial position image, and the first correspondence relationship, calculate the planar compensation distance of one of the elements, and adjust one of the elements to the second position relationship according to the planar compensation distance; S500, one component is placed downwards into another component for assembly.

[0023] Specifically, the components include a first component and a second component, and the cameras include a first camera and a second camera. When the components are in their initial positions, both the first and second cameras take pictures of the component's location. Then, through translation or rotation, multiple different physical coordinate systems are acquired. These pictures are used to obtain multiple different camera coordinate systems based on the different physical coordinate systems of the two components on the X and Y axes. A correspondence between the physical coordinate systems and the camera coordinate systems is then established based on these acquired coordinates. This correspondence is pre-set according to the components to be assembled, and then the first and second components can be directly assembled. This invention can directly assemble the first and second components based on the correspondence between the physical and camera coordinate systems, eliminating the need for multiple adjustments to the correspondence and recalibration of the components during assembly. Assembly of the first and second components is achieved solely based on their correspondence, saving time, reducing the probability of assembly failure, and improving assembly efficiency.

[0024] As an optional implementation, such as Figure 2As shown, the specific steps of S100 are as follows: S110. Let the initial position of one component relative to another component on the X-axis and Y-axis be the initial position. Use a camera to take a picture of the component and obtain the initial coordinates of the initial position in the camera coordinate system. S120. Referring to the initial position, move one of the components multiple times along the X-axis and Y-axis by a fixed length to obtain multiple first coordinates based on the physical coordinate system; S130. The component takes pictures using a camera during multiple movements, and obtains the movement coordinates based on the initial coordinates in the images captured by each camera, thus obtaining multiple second coordinates based on the camera coordinate system. S140. Establish the correspondence between the first coordinate and the second coordinate.

[0025] Specifically, because a typical precision assembly system has a certain material delivery schedule, the first and second components can be positioned at their initial assembly positions, such as... Figure 3 As shown, all of these can be captured by the camera. Figure 4 , Figure 5 As shown, let the initial assembly position of the two components on the X and Y axes be the initial position, with coordinates (0,0). A camera is used to photograph the two components to obtain their initial coordinates in the camera coordinate system. Using these initial coordinates as the origin of the camera coordinate system, the second component is moved a fixed length A along the X and Y axes, respectively, with reference to its initial position. This yields at least four sets of physical coordinates: (0,0-A); (0,0+A); (0-A,0); (0+A,0). Adding this to the initial position (0,0), there are five sets of physical coordinates. During multiple translations, the camera is used to photograph the components, yielding at least four sets of translated camera coordinates. Including the initial coordinates, there are a total of five sets of camera coordinates. The images captured by the first and second cameras at this point are shown below. Figure 3 and Figure 4 As shown, by using the above five sets of camera coordinate system coordinates and the translation distances of the X-axis motion mechanism and the Y-axis motion mechanism, the translation correspondence between the coordinates in the physical coordinate system and the coordinates in the camera coordinate system can be established. After establishing the correspondence, it is convenient to assemble the first component and the second component in the future.

[0026] As an optional implementation, such as Figure 6 As shown, the specific steps of S200 are as follows: S210. Let the initial position of one component relative to another component on the X-axis and Y-axis be , and use a camera to take a picture of the component to obtain the initial coordinates of the initial position in the camera coordinate system. S220. Referring to the initial position, rotate one of the components multiple times along the X-axis and Y-axis at fixed angles to obtain multiple third coordinates based on the physical coordinate system. S230. The component takes pictures using a camera during multiple rotations, and obtains the rotation coordinates based on the initial coordinates in the image captured by each camera, thus obtaining multiple fourth coordinates based on the camera coordinate system. S240. Establish the correspondence between the third and fourth coordinates.

[0027] Specifically, let the initial placement of the two components on the X and Y axes be the initial position, with coordinates (0,0). Take photos using the first and second cameras to obtain the initial coordinates in the two camera coordinate systems. Use these initial coordinates as the origin of the camera coordinate system. Referring to the initial position of the components on the X and Y axes, rotate the second component by a fixed angle α on the X-axis and Y-axis rotation mechanisms respectively, obtaining at least four sets of coordinates based on the physical coordinate system: (0,0-α); (0,0+α); (0-α,0); (0+α,0). Adding this to the initial position (0,0), there are a total of five sets of physical coordinate system coordinates. During multiple rotations, take photos of the components to obtain at least four sets of rotated camera coordinate system coordinates, plus the initial coordinates, for a total of five sets of camera coordinate system coordinates. The steps of the second component rotation process are as follows: Figure 7 As shown, by using the five sets of camera coordinate system coordinates and the rotation angles of the X-axis rotation mechanism and the Y-axis rotation mechanism, a rotational correspondence between the coordinates in the physical coordinate system and the coordinates in the camera coordinate system can be established. After establishing the correspondence, it is convenient to assemble the first and second components in the future.

[0028] Since the first and second cameras take pictures simultaneously, each camera will have its own corresponding camera coordinate system coordinates.

[0029] As an optional implementation, the correspondence between the first and second coordinates is a first correspondence; the correspondence between the third and fourth coordinates is a second correspondence; the formula for the correspondence is: M2=M M1 M1 represents the deviation value of the initial coordinates of the image captured by the element in the camera coordinate system; M2 represents the compensation value of the initial position of the element in the physical coordinate system; and M represents the transformation matrix from the camera coordinate system to the physical coordinate system. Specifically, the deviation value of the initial coordinates of the image captured by the element in the camera coordinate system and the compensation value of the initial position of the element in the physical coordinate system are linearly transformed. This transformation is performed using this formula to convert the feature deviation value in the camera into the compensation value in the physical coordinate system to achieve the purpose of position adjustment.

[0030] Specifically, when adjusting the positional relationship between the first and second components to the first positional relationship, a formula for the corresponding relationship is used to calculate the rotation compensation angle required to convert the offset in the camera coordinate system to the second component in the physical coordinate system, based on the set first positional relationship and the second correspondence. This allows the second component to rotate to the set first positional relationship between the first and second components under the action of the X-axis and Y-axis rotation mechanisms, and then stop rotating. When adjusting the positional relationship between the first and second components to the second positional relationship, a formula for the corresponding relationship is also used to calculate the planar compensation distance required to convert the offset in the camera coordinate system to the second component in the physical coordinate system, based on the set second positional relationship, the initial position image, and the first correspondence. This distance is then translated under the action of the X-axis and Z-axis motion mechanisms. Once the positional relationship between the first and second components matches the set second positional relationship, the movement stops. At this point, after both the first and second positional relationships satisfy the first and second positional relationships, the second component moves downward under the action of the Y-axis motion mechanism, placing the second component into the hole of the first component to complete the installation.

[0031] As an optional implementation, the first positional relationship in step S300 is: the side or vertical centerline of one element is perpendicular to the upper surface or horizontal section of the other element; the second positional relationship in step S400 is: the vertical centerline of one element coincides with the vertical centerline of the other element. In this invention, the second element has an irregular geometric shape (specifically, it can be a cube or rhombus cube) with multiple vertical sides, which facilitates the positioning and installation between the two elements.

[0032] like Figure 3 As shown, assuming the first and second components are randomly placed, images are taken using the first and second cameras. The rotation offset of the first component in the physical coordinate system is determined according to the corresponding formula. The second component is then rotated according to this offset by the X-axis and Y-axis rotation mechanisms, ultimately making the side of the second component perpendicular to the upper surface or horizontal section of the first component. At this point, the images captured by both the first and second cameras should show the side of the second component perpendicular to the upper surface or horizontal section of the first component. The rotated component image is shown below. Figure 8 As shown, at this time, the side or vertical centerline of the second element is perpendicular to the upper surface or horizontal section of the first element, such as... Figure 9As shown; then, based on the formula of the corresponding relationship, the linear offset that the first element needs to be translated in the physical coordinate system is determined, so that the second element is translated according to the linear offset under the action of the X-axis motion mechanism and the Y-axis motion mechanism, so that the second element is translated directly above the first element, so that the longitudinal center line of the second element coincides with the longitudinal center line of the first element. At this time, it is known that the first element and the second element are in a non-collision position. The image of the translated elements is as follows. Figure 10 As shown, at this time, the vertical center line of the second element coincides with the vertical center line of the first element, as... Figure 11 As shown; after both conditions are met, the component adsorption device will move downward under the action of the Z-axis motion mechanism, so that the second component is assembled into the first component, completing the assembly between the two components. The assembly is accurate and saves time.

[0033] The embodiment is merely a specific example and does not indicate that this is the only way to implement the present invention.

[0034] Example 2: A grazing incidence binocular vision positioning device is used to perform the grazing incidence binocular vision positioning assembly method in Embodiment 1, such as... Figure 12As shown, it includes: an X-axis motion mechanism 5, a Y-axis motion mechanism 51, a Z-axis motion mechanism 52, an X-axis rotation mechanism 6, a Y-axis rotation mechanism 61, and a component adsorption device 7; the X-axis motion mechanism 5 and the Y-axis motion mechanism 51 are both located at one end of the Z-axis motion mechanism 52; starting the X-axis motion mechanism 5 can drive the Y-axis motion mechanism 51 and the Z-axis motion mechanism 52 to move along the X-axis, and starting the Y-axis motion mechanism 51 can drive the X-axis motion mechanism 5 and the Z-axis motion mechanism 52 to move along the Y-axis; the X-axis rotation mechanism 6 and the Y-axis rotation mechanism 61 are located at the other end of the Z-axis motion mechanism 52, the X-axis rotation mechanism 6 and the Y-axis rotation mechanism 61 are movably connected, the component adsorption device 7 is fixedly connected to the X-axis rotation mechanism 6, starting the X-axis rotation mechanism 6 can drive the component adsorption device 7 to rotate along the X-axis, and starting the Y-axis rotation mechanism 61 can drive the component adsorption device 7 to rotate along the Y-axis. Specifically, the X-axis motion mechanism 5, Y-axis motion mechanism 51, and Z-axis motion mechanism 52 can all translate along different axes. The X-axis motion mechanism 5 can translate left and right along the X-axis, the Y-axis motion mechanism 51 can translate forward and backward along the Y-axis, and the Z-axis motion mechanism 52 can translate up and down along the Z-axis. When the X-axis motion mechanism 5, Y-axis motion mechanism 51, and Z-axis motion mechanism 52 translate, they can drive the component adsorption device 7 to move. The X-axis rotation mechanism 6 and Y-axis rotation mechanism 61 are both located above the Z-axis motion mechanism 52. The Y-axis rotation mechanism 61 is directly and movably connected to the Z-axis motion mechanism 52, and the X-axis rotation mechanism 6 is connected to the Z-axis motion mechanism through the Y-axis rotation mechanism 61. Both the X-axis rotation mechanism 6 and the Y-axis rotation mechanism 61 are capable of rotation. The X-axis rotation mechanism 6 can rotate around the X-axis above the Z-axis motion mechanism 52, and the Y-axis rotation mechanism 61 can rotate around the Y-axis above the Z-axis motion mechanism 52. When the X-axis rotation mechanism 6 and the Y-axis rotation mechanism 61 rotate, they can drive the component adsorption device 7 to rotate. The component adsorption device 7 is located at the other end of the X-axis rotation mechanism 6. The X-axis motion mechanism 5, the Y-axis motion mechanism 51, the Z-axis motion mechanism 52, the X-axis rotation mechanism 6, and the Y-axis rotation mechanism 61 can drive the component adsorption device 7 to move or rotate on different axes. Moving or rotating on multiple axes facilitates the position movement of component 1, facilitates the determination of the correspondence between the physical coordinate system and the camera 2 coordinate system, facilitates the positioning of component 1, and then realizes the precise assembly of component 1.

[0035] The component adsorption device 7 includes a connector 71 and a suction nozzle 72. One side of the connector 71 is fixedly connected to the X-axis rotation mechanism 6, and the other side of the connector 71 is fixedly connected to the suction nozzle 72. The suction nozzle 72 can hold the second component 12. The specific working steps of the component adsorption device 7 are as follows: the component adsorption device 7 will move or rotate under the action of the X-axis motion mechanism 5, the Y-axis motion mechanism 51, the Z-axis motion mechanism 52, the X-axis rotation mechanism 6, and the Y-axis rotation mechanism 61. After the first component 11 and the second component 12 reach the first position relationship and the second position relationship, the control unit will control the component 1 adsorption mechanism to move downward in a straight line. Under the action of the suction nozzle 72, the second component 12 is placed into the first component 11, and the assembly is completed.

[0036] As an optional implementation, the positioning device further includes a first light source 3 and a second light source 4, both of which operate in backlight mode. Specifically, the first light source 3 and the second light source 4 on the positioning device are positioned opposite the first camera 21 and the second camera 22. Both the first light source 3 and the second light source 4 operate in backlight mode. When the camera 2 takes a picture of the component 1 under the action of the first light source 3 and the second light source 4, the camera 2 can capture the brightness of the component 1. The positional features of the image are extracted from this brightness, and then the required movement of the X-axis motion mechanism 5, Y-axis motion mechanism 51, Z-axis motion mechanism 52, X-axis rotation mechanism 6, and Y-axis rotation mechanism 61 is determined by the correspondence between the physical coordinate system and the camera 2 coordinate system, ultimately enabling the component 1 to be precisely installed. It should be noted that if a front light source is used for illumination, the brightness relationship between the first component 11 and the second component 12 will be reversed. However, as long as the features of the relative positions of the first component 11 and the second component 12 can be extracted, a front light source can also be used for illumination, and the camera 2 can be used to take a picture of them.

[0037] As an optional implementation, the positioning device further includes a first camera 21 and a second camera 22. Element 1 includes a first element 11 and a second element 12. The first camera 21 and the second camera 22 can respectively capture images of the first element 11 and the second element 12 under the action of the first light source 3 and the second light source 4. When element 1 moves or rotates, the camera 2 captures at least five sets of position images of the first element 11 and the second element 12. Specifically, the first element 11 is an element 1 with a hole, allowing the second element 12 to be inserted; the second element 12 is the element 1 to be inserted, and the second element 12 is an element 1 with edges, specifically a cube or a rhombus cube. More specifically, the first light source 3 and the first camera 21 are arranged diagonally, as are the second light source 4 and the second camera 22, and the initial placement position of the first element 11 and the second element 12 is approximately near the midline of this diagonal. When the first camera 21 and the second camera 22 capture images of the first element 11 and the second element 12 under the action of the first light source 3 and the second light source 4, the images captured by the first camera 21 and the second camera 22 have the following characteristics: the left and right sides of the first element 11 and the element 11 itself are dark, while the area outside the first element 11 is bright, and the hole on the first element 11 for inserting the second element 12 is dark; the left and right sides of the second element 12 and the element 12 itself are dark, while the area outside the element 12 is bright, and the upper surface of the second element 12 is bright. It should be noted that when determining the correspondence between the physical coordinates and the coordinates of the camera 2, the first camera 21 and the second camera 22 need to capture at least five sets of position images of the first element 11 and the second element 12.

[0038] As an optional implementation, the angle between the plane formed by the first camera 21, the second camera 22, and the X-axis motion mechanism 5 is 0-70 degrees, and the angle between the first camera 21 and the second camera 22 on the same plane is 0-170 degrees. Specifically, in order to ensure that the camera 2 can capture images of the element 1 to confirm the offset, the setting position of the camera 2 is also required. As shown in the figure, the angle formed by the camera 2 and the X-axis motion mechanism 5 is 0-70 degrees. As shown in the figure, when the first camera 21 and the second camera 22 are on the same plane, the angle between the first camera 21 and the second camera 22 is 0-170 degrees. Limiting the angle of the camera is mainly to maximize the shooting range and reduce the overlap of the shooting areas. It should be noted that the angles of the first camera 21 and the second camera 22 need to be matched with the angles of the first light source 3 and the second light source 4.

[0039] As an optional implementation, the positioning device also includes a control unit, which can control the X-axis motion mechanism 5, Y-axis motion mechanism 51, Z-axis motion mechanism 52, X-axis rotation mechanism 6, and Y-axis rotation mechanism 61 to move or rotate. Specifically, when establishing the first correspondence between the physical coordinate system and the camera 2 coordinate system, the X-axis motion mechanism 5, Y-axis motion mechanism 51, and Z-axis motion mechanism 52 will move under the action of the control unit, and the control unit will control the camera 2 to take pictures of component 1. When establishing the second correspondence between the physical coordinate system and the camera 2 coordinate system, the X-axis rotation mechanism 6 and Y-axis rotation mechanism 61 will rotate under the action of the control unit, and the control unit will control the camera 2 to take pictures of component 1. Furthermore, when assembling component 1, the control unit will determine the offset of component 1 according to the first and second correspondences, and control the X-axis motion mechanism 5, Y-axis motion mechanism 51, Z-axis motion mechanism 52, X-axis rotation mechanism 6, and Y-axis rotation mechanism 61 to move or rotate to adjust the position of the second component 12, thereby achieving precise assembly between the second component 12 and the first component 11.

[0040] It should be noted that, in Figure 12 The connection between the camera and light source and other components is not shown in the diagram. Users can fix the camera and light source at the installation angles described above during actual use.

[0041] The above description is merely a preferred embodiment of the present invention. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A grazing incidence binocular vision positioning assembly method, characterized in that, The process of positioning and assembling two components includes the following steps: S100. Move one of the components multiple times on the X-axis and Y-axis, and take pictures with at least one camera each time. Establish the first correspondence between the physical coordinate system and the camera coordinate system of each camera on the X-axis and Y-axis. S200. Rotate one of the components around the X-axis and Y-axis multiple times, and take pictures using at least one camera each time the rotation is performed, and establish a second correspondence between the physical coordinate system and the camera coordinate system of each camera on the X-axis and Y-axis. S300. Randomly place the two components at the assembly position, acquire the initial position images of the two components through a camera, calculate the rotation compensation angle of one of the components according to the set first position relationship and the second correspondence relationship, and adjust the one of the components to the first position relationship according to the rotation compensation angle. S400. Based on the set second position relationship, the initial position image, and the first correspondence relationship, calculate the planar compensation distance of one of the elements, and adjust the one of the elements to the second position relationship according to the planar compensation distance; S500: Place one component downwards into another component for assembly; The first positional relationship in step S300 is: the side or vertical centerline of one component is perpendicular to the upper surface or horizontal section of the other component; The second positional relationship in step S400 is: the vertical center line of one element coincides with the vertical center line of the other element.

2. The grazing incidence binocular vision positioning assembly method according to claim 1, characterized in that, The specific steps for S100 are as follows: S110. Let the position of one component relative to another component on the X-axis and Y-axis be the initial position. Use the camera to take a picture of the component and obtain the initial coordinates of the initial position in the camera coordinate system. S120. Referring to the initial position, move one of the components multiple times along the X-axis and Y-axis by a fixed length to obtain multiple first coordinates based on the physical coordinate system; S130. The element takes pictures using the camera during multiple movements, and obtains the movement coordinates based on the initial coordinates in the image captured by each camera, thereby obtaining multiple second coordinates based on the camera coordinate system. S140. Establish the correspondence between the first coordinate and the second coordinate.

3. The grazing incidence binocular vision positioning assembly method according to claim 2, characterized in that, The specific steps for S200 are as follows: S210. Let the position of one component relative to another component on the X-axis and Y-axis be the initial position. Use the camera to take a picture of the component and obtain the initial coordinates of the initial position in the camera coordinate system. S220. Referring to the initial position, rotate one of the components multiple times along the X-axis and Y-axis at fixed angles to obtain multiple third coordinates based on the physical coordinate system; S230. The element takes pictures using the camera during multiple rotations, and obtains the rotation coordinates based on the initial coordinates in the image captured by each camera, thereby obtaining multiple fourth coordinates based on the camera coordinate system. S240. Establish the correspondence between the third coordinate and the fourth coordinate.

4. The grazing incidence binocular vision positioning assembly method according to claim 3, characterized in that, The correspondence between the first and second coordinates is a first correspondence; the correspondence between the third and fourth coordinates is a second correspondence; the formula for the correspondence is: M2=M M1; M1 is the deviation value of the initial coordinates corresponding to the image captured by the element in the camera coordinate system; M2 is the compensation value of the initial position of the element in the physical coordinate system; M is the transformation matrix for transforming the camera coordinate system to the physical coordinate system.

5. A grazing incidence binocular vision positioning device, characterized in that, The assembly method for performing a grazing incidence binocular vision positioning method according to any one of claims 1-4 includes: an X-axis motion mechanism (5), a Y-axis motion mechanism (51), a Z-axis motion mechanism (52), an X-axis rotation mechanism (6), a Y-axis rotation mechanism (61), and a component adsorption device (7). The X-axis motion mechanism (5) and the Y-axis motion mechanism (51) are located at one end of the Z-axis motion mechanism (52); starting the X-axis motion mechanism (5) can drive the Y-axis motion mechanism (51) and the Z-axis motion mechanism (52) to move along the X-axis, and starting the Y-axis motion mechanism (51) can drive the X-axis motion mechanism (5) and the Z-axis motion mechanism (52) to move along the Y-axis. The X-axis rotation mechanism (6) and the Y-axis rotation mechanism (61) are located at the other end of the Z-axis motion mechanism (52). The X-axis rotation mechanism (6) and the Y-axis rotation mechanism (61) are movably connected. The component adsorption device (7) is fixedly connected to the X-axis rotation mechanism (6). Activating the X-axis rotation mechanism (6) can drive the component adsorption device (7) to rotate along the X-axis. Activating the Y-axis rotation mechanism (61) can drive the component adsorption device (7) to rotate along the Y-axis.

6. The grazing incidence binocular vision positioning device according to claim 5, characterized in that, The positioning device also includes a first light source (3) and a second light source (4), both of which operate in backlight mode.

7. The grazing incidence binocular vision positioning device according to claim 6, characterized in that, The positioning device further includes a first camera (21) and a second camera (22). The element (1) includes a first element (11) and a second element (12). The first camera (21) and the second camera (22) can respectively capture images of the first element (11) and the second element (12) under the action of the first light source (3) and the second light source (4). When the element (1) moves or rotates, the camera (2) captures at least five sets of position images of the first element (11) and the second element (12).

8. The grazing incidence binocular vision positioning device according to claim 7, characterized in that, The angle between the plane formed by the first camera (21), the second camera (22) and the X-axis motion mechanism (5) is 0 to 70 degrees, and the angle between the first camera (21) and the second camera (22) on the same plane is 0 to 170 degrees.

9. The grazing incidence binocular vision positioning device according to claim 7, characterized in that, The positioning device also includes a control unit, which can control the X-axis motion mechanism (5), Y-axis motion mechanism (51), Z-axis motion mechanism (52), X-axis rotation mechanism (6) and Y-axis rotation mechanism (61) to move or rotate.

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