Positioning and attaching method, device, readable storage medium and electronic device

Abstract

The application discloses a positioning and attaching method and device, a readable storage medium and an electronic device, and is applied to a positioning and attaching system. The positioning and attaching system at least comprises a mechanical arm for transfer and an image acquisition device. The method comprises the following steps: the mechanical arm is controlled to transfer a first attaching piece and a second attaching piece into the image acquisition range of the image acquisition device respectively, so that the image information of the first attaching piece and the second attaching piece is acquired; a respective frame template is established according to the image information, so that the contour information of the first attaching piece and the second attaching piece is determined through the frame template; the attaching position information of the first attaching piece and the second attaching piece is acquired; the displacement information of the first attaching piece and the second attaching piece is calculated according to the attaching position information and the contour information according to a preset algorithm; and the mechanical arm is controlled to attach the first attaching piece and the second attaching piece according to the displacement information. The application solves the problem of low precision in positioning and attaching in the prior art.

Description

Technical Field

[0001] This invention relates to the field of positioning technology, and in particular to a positioning and bonding method, apparatus, readable storage medium, and electronic device. Background Technology

[0002] Positioning and bonding has always been an important part of industrial production. Generally, the location to be bonded is determined by collecting information, and then the object to be bonded is moved to the required position by a robotic arm, thereby achieving positioning and bonding.

[0003] Currently, positioning and bonding first involves using an industrial camera to acquire Mark points of the object being positioned, and then calculating the position using these Mark points as a positioning reference. However, since the positioning reference is the Mark point, the calculation is based on the positioning result obtained through the Mark point. Therefore, only the positioning accuracy of the Mark point is guaranteed. If the tolerance of the object being positioned exceeds the limit, the accuracy of the point further away from the Mark point cannot be guaranteed, and true centering positioning cannot be achieved. Thus, when the tolerance of the object being positioned exceeds the limit, it will affect the positioning effect at positions other than the Mark point, leading to low positioning accuracy. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a positioning and bonding method, apparatus, storage medium and device, which aims to solve the problem of low accuracy in positioning and bonding in the prior art.

[0005] The embodiments of the present invention are implemented as follows:

[0006] A positioning and bonding method is applied in a positioning and bonding system, the positioning and bonding system including at least a robotic arm for transfer and an image acquisition device, the method comprising:

[0007] The robotic arm is controlled to transfer the first bonding component and the second bonding component to the acquisition range of the image acquisition device, so as to acquire image information of the first bonding component and the second bonding component respectively;

[0008] Based on the image information, respective border templates are created to determine the contour information of the first and second bonding components.

[0009] The bonding position information of the first bonding component and the second bonding component is obtained. Based on the bonding position information and the contour information, the displacement information of the first bonding component and the second bonding component is calculated according to a preset algorithm. The robotic arm is then controlled to bond the first bonding component and the second bonding component according to the displacement information.

[0010] Furthermore, in the above positioning and fitting method, the step of establishing respective border templates based on the image information includes:

[0011] Based on the acquired image information, each contour image is determined, and a contour border created by the user for the contour image is received to determine the respective border template.

[0012] Furthermore, in the above positioning and fitting method, the step of determining the contour border includes:

[0013] The system receives contour lines created by the system for each edge of the contour image, and when the contour line parameters meet the preset standards, it sequentially creates borders at the top left, bottom left, top right, and bottom right.

[0014] The final outline border is determined based on the top left, bottom left, top right, and bottom right borders.

[0015] Furthermore, in the above-mentioned positioning and bonding method, the steps of obtaining the bonding position information of the first bonding component and the second bonding component, calculating the displacement information of the first bonding component and the second bonding component according to a preset algorithm based on the bonding position information and contour information, and controlling the robotic arm to bond the first bonding component and the second bonding component according to the displacement information include:

[0016] Based on the contour information, the image coordinate information of the first bonding component and the second bonding component are obtained respectively, and the image coordinate information is subjected to corresponding matrix transformation to determine the robotic arm coordinate information of the first bonding component and the second bonding component.

[0017] The position transformation matrix of the robotic arm is determined based on the coordinate information of the first and second bonding components and the bonding position information to determine the displacement information.

[0018] Furthermore, in the above-described positioning and bonding method, the step of performing a corresponding matrix transformation on the image coordinate information based on the image coordinate information to determine the robotic arm coordinate information of the first bonding component and the second bonding component includes:

[0019] The image acquisition device and the robotic arm are calibrated according to preset rules to obtain a transformation matrix between the image coordinate information of the image acquisition device and the robotic arm coordinate information of the robotic arm.

[0020] The image coordinate information is transformed according to the transformation matrix to determine the robotic arm coordinate information of the first bonding component and the second bonding component.

[0021] Furthermore, in the above-mentioned positioning and fitting method, the step of calibrating the image acquisition device and the robotic arm according to preset rules to obtain the transformation matrix between the image coordinate information of the image acquisition device and the robotic arm coordinate information includes:

[0022] When a circular marker is placed on the suction head of the robotic arm, the coordinates of the center of a preset number of the circular markers after the robotic arm rotates at the current position by a preset number of angles are collected, and the target center coordinates are determined based on the preset number of center coordinates.

[0023] After the robotic arm changes its current position, the steps of collecting the center coordinates of a preset number of circular markers after the robotic arm rotates a preset number of angles from its current position, and determining the target center coordinates based on the preset number of center coordinates are executed sequentially to determine multiple target center coordinates.

[0024] The transformation matrix between the image coordinate information and the robot arm coordinate information is determined based on the initial coordinates of the robot arm and the coordinates of the target center.

[0025] Another object of the present invention is to provide a positioning and bonding device for use in a positioning and bonding system, the positioning and bonding system including at least a robotic arm for transfer and an image acquisition device, the method comprising:

[0026] The acquisition module is used to control the robotic arm to transfer the first bonding component and the second bonding component to the acquisition range of the image acquisition device, so as to acquire the image information of the first bonding component and the second bonding component respectively;

[0027] The determining module is used to create respective border templates based on the image information, so as to determine the contour information of the first bonding component and the second bonding component respectively through the border templates;

[0028] The control module is used to acquire the bonding position information of the first bonding component and the second bonding component, calculate the displacement information of the first bonding component and the second bonding component according to the bonding position information and the contour information using a preset algorithm, and control the robotic arm to bond the first bonding component and the second bonding component according to the displacement information.

[0029] Furthermore, in the aforementioned positioning and fitting device, the determining module includes:

[0030] A creation unit is used to determine the respective contour images based on the acquired image information, and to receive the contour borders created by itself for the contour images to determine the respective border templates.

[0031] Another object of the present invention is to provide a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0032] Another object of the present invention is to provide an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the method described above.

[0033] This invention controls a robotic arm to transport a first and a second bonding component to the image acquisition range of an image acquisition device, thereby acquiring image information of the first and second bonding components respectively. Based on the image information, separate border templates are created for each component to determine their contour information. The bonding position information of the first and second bonding components is obtained. Based on the bonding position information and contour information, the displacement information of the first and second bonding components is calculated according to a preset algorithm. The robotic arm is then controlled to bond the first and second bonding components according to the displacement information. During positioning, the optimal position between the contours is calculated, ensuring that even if the object tolerance deviates from the upper or lower limit, an optimal position can still be calculated for positioning. This improves positioning accuracy and solves the problem of low accuracy in existing technologies. Attached Figure Description

[0034] Figure 1 A flowchart of the positioning and bonding method provided in the first embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of image acquisition in a positioning and bonding method provided in one embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram showing the outline of the first bonding member and the second bonding member in a positioning and bonding method provided in an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram illustrating the creation process of the border template in the positioning and fitting method provided in one embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram illustrating the creation process of the border template in the positioning and fitting method provided in one embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram illustrating the creation process of the border template in the positioning and fitting method provided in one embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram illustrating the creation process of the border template in the positioning and fitting method provided in one embodiment of the present invention;

[0041] Figure 8 This is a schematic diagram illustrating the creation process of the border template in the positioning and fitting method provided in one embodiment of the present invention;

[0042] Figure 9 This is a schematic diagram illustrating the creation process of the border template in the positioning and fitting method provided in one embodiment of the present invention;

[0043] Figure 10 This is a schematic diagram illustrating the creation process of the border template in the positioning and fitting method provided in one embodiment of the present invention;

[0044] Figure 11 This is a schematic diagram of the bonding of the first bonding component and the second bonding component in a positioning and bonding method provided in an embodiment of the present invention;

[0045] Figure 12 This is a diagram showing the arrangement of circular markers in a positioning and bonding method provided in one embodiment of the present invention;

[0046] Figure 13 This is a structural block diagram of the positioning and bonding device in the second embodiment of the present invention.

[0047] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0048] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0049] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0051] Positioning and bonding has always been an important part of industrial production. Generally, the location to be bonded is determined by collecting information, and then the object to be bonded is moved to the required position by a robotic arm, thereby achieving positioning and bonding.

[0052] Currently, positioning and bonding first involves using an industrial camera to collect Mark points on the object to be positioned, and then calculating the position using these Mark points as a positioning reference. However, since the positioning reference is the Mark point, and the calculation is based on the Mark point, only the positioning accuracy of the Mark point can be guaranteed. When the tolerance of the object being positioned exceeds the limit, the accuracy of the point further away from the Mark point cannot be guaranteed, and true centering positioning cannot be achieved. Therefore, when the tolerance of the object being positioned exceeds the limit, it will affect the positioning effect at positions other than the Mark point, leading to low positioning accuracy.

[0053] The embodiments of the present invention mainly use the optimal position of the center of the outline of the object to be located for positioning. Even if the object tolerance deviates from the upper or lower limit, an optimal position can be calculated, thereby improving the positioning accuracy.

[0054] The following will describe in detail how to improve the accuracy of positioning and fitting, with reference to specific embodiments and accompanying drawings.

[0055] Example 1

[0056] Please see Figure 1 The diagram shows a flowchart of the positioning and bonding method in the first embodiment of the present invention, which is applied to a positioning and bonding system. The positioning and bonding system includes at least a robotic arm for transfer and an image acquisition device. The method includes steps S10 to S12.

[0057] Step S10: Control the robotic arm to transfer the first bonding component and the second bonding component to the acquisition range of the image acquisition device, so as to acquire image information of the first bonding component and the second bonding component respectively.

[0058] In this positioning and bonding system, both the robotic arm and the image acquisition device are electrically connected to a control unit, such as a microcontroller unit (MCU), within the system to control the robotic arm and image acquisition device to perform corresponding actions. Specifically, the first and second bonding components represent objects used for mutual bonding or assembly. It should be noted that in this embodiment, the bonding components primarily refer to quadrilateral bonding components. In specific implementations, the first and second bonding components include, but are not limited to, a mobile phone frame and back cover assembly machine, a mobile phone screen and screen protector. The positioning and bonding system can be a mobile phone frame and back cover assembly machine or a mobile phone screen protector bonding machine. The image acquisition device is an industrial camera, and in this embodiment, the acquisition range is the field of view of the industrial camera. Figure 2 As shown, the industrial camera can capture complete contour image information of the first and second bonding parts.

[0059] Step S11: Establish respective border templates based on the image information, so as to collect the contour information of the first bonding component and the second bonding component through the border templates.

[0060] Specifically, the four-sided contours of the bonding components are acquired using two frame templates of the bonding components, thus avoiding the impact of curved corners on positioning accuracy. The contour information includes at least the contour of the bonding component and its camera coordinate information. Specifically, contour images determined by image information are received, and contour lines are created for each edge in the contour images. When the contour line parameters meet preset standards, top-left, bottom-left, top-right, and bottom-right borders are sequentially created. The final contour borders are determined based on these borders, and the self-created contour borders are received to determine their respective border templates, which in turn define their respective contours. Specifically, as shown... Figure 2 As shown, the first bonding component is object 1, the second bonding component is object 2, and the vertices of the first bonding component and the second bonding component are A, B, C, D, a, b, c, and d, respectively.

[0061] Furthermore, in order to explain more clearly and in detail the implementation process of contour information determination in the embodiments of the present invention, a specific implementation process of contour information determination based on contour information determination software will be described in detail below.

[0062] Specifically, such as Figures 4 to 10 Enter the template editing interface, click "Create Line 1" to enter the line creation interface. The line creation interface includes options such as taking a picture, searching, creating, and saving lines. The line creation interface can display the image of the bonding part captured by the industrial camera in real time. Clicking "Take a Picture" can capture the current image of the bonding part. Draw a straight line (i.e., outline) with the mouse where the border needs to be captured and adjust the appropriate parameters. The straight line includes the start and end coordinates in the camera coordinate system. By clicking "Create Line" and "Search," you can verify whether the current parameters are appropriate. When the current parameters are appropriate, the outline edge has been successfully found. You can then click "Save Line" to save the line template. Repeat the above operation to create Line 2. After completing this step, click "Take a Picture" in the template editing interface to find the effect, thereby determining the two outlines in the upper left corner. Then, follow this operation to create the templates for the lower left, upper right, and lower right corners, and finally create the border template of the bonding part.

[0063] Step S12: Obtain the bonding position information of the first bonding component and the second bonding component; calculate the displacement information of the first bonding component and the second bonding component according to the bonding position information and the contour information using a preset algorithm; and control the robotic arm to bond the first bonding component and the second bonding component according to the displacement information.

[0064] Specifically, after determining the outlines of the first and second bonding components, we can determine the optimal position required, i.e., the bonding position of the first and second bonding components, as needed. Figure 11 As shown, for example, the optimal position we need to obtain is one that minimizes the value of (1-6)+(2-5)+(3-8)+(4-7) in the figure, which is a position transformation of object 2.

[0065] Because the camera coordinates and the robotic arm coordinates are not the same, the determination of contour information is mainly achieved through camera coordinate positioning, while the actual bonding is mainly achieved through robotic arm coordinates. Therefore, after determining the optimal bonding position, the coordinates of the bonding parts that need to be repositioned need to be transformed so that they can be accurately transported to the bonding position by the robotic arm.

[0066] Specifically, the image acquisition device and the robotic arm are calibrated according to preset rules to obtain a transformation matrix between the image coordinate information of the image acquisition device and the robotic arm coordinate information of the robotic arm;

[0067] The image coordinate information is transformed according to the transformation matrix to determine the robotic arm coordinate information of the first bonding component and the second bonding component.

[0068] More specifically, such as Figure 12 As shown, a standard circular marker is placed on the suction head of the robotic arm so that the industrial camera can clearly capture it. The initial coordinates of the robotic arm are recorded. The robotic arm rotates three angles from this position (the sum of the angles should not be less than 90 degrees, as this will affect the accuracy of the circle center calculation) to capture the coordinates of the three centers of the circular marker. The coordinates of the target circle center are then calculated using the mathematical formula for a circle. These coordinates are the image coordinates a1 of the robotic arm coordinates A1 on the industrial camera. The same operation is performed to move the robotic arm to two different positions to obtain A2, A3, a2, and a3. Using the three sets of robotic arm coordinates and their corresponding coordinates on the industrial camera, T can be calculated using the formula aT = A (where T is the transformation matrix from camera coordinates to robotic arm coordinates).

[0069] Furthermore, after obtaining the respective contour information, the camera coordinates of each endpoint of the contour can be determined. The calibration transformation matrix transforms these coordinates to the robot arm coordinates. Then, the position requiring displacement can be denoted by matrix M, where... .

[0070] According to the formula for the distance from a point to a line, d = ax + by - c = (a, b, -c) · (x, y, 1), the distance to the optimal position is d = ax + by - c = (a, b, -c) · M · (x, y, 1). From this formula, we can obtain the equation: ∑dmin = (d1 - d6) + (d2 - d5) + (d3 - d8) + (d4 - d7). Expanding the formula, we take the partial derivatives with respect to θ, e, and f, and then use the least squares method to obtain M. M is the position transformation matrix for the optimal position. Here, θ is the rotation angle, e is the translation in the x-direction, and f is the translation in the y-direction. This allows us to control the position of the fitting part using the position transformation matrix.

[0071] In summary, the positioning and bonding method in the above embodiments of the present invention controls a robotic arm to transfer the first bonding component and the second bonding component to the acquisition range of an image acquisition device, thereby acquiring image information of the first bonding component and the second bonding component respectively; based on the image information, respective border templates are established to determine the contour information of the first bonding component and the second bonding component; the bonding position information of the first bonding component and the second bonding component is obtained; based on the bonding position information and the contour information, the displacement information of the first bonding component and the second bonding component is calculated according to a preset algorithm; and the robotic arm is controlled to bond the first bonding component and the second bonding component according to the displacement information. During positioning, the optimal position between the contours is mainly calculated, and even if the object tolerance deviates from the upper or lower limit, an optimal position can still be calculated for positioning. This improves the positioning accuracy and solves the problem of low accuracy in positioning in the prior art.

[0072] Example 2

[0073] Please see Figure 13 The image shows a positioning and bonding device proposed in the second embodiment of the present invention, applied in a positioning and bonding system. The positioning and bonding system includes at least a robotic arm for transfer and an image acquisition device. The method includes:

[0074] The acquisition module 100 is used to control the robotic arm to transfer the first bonding component and the second bonding component to the acquisition range of the image acquisition device, so as to acquire the image information of the first bonding component and the second bonding component respectively;

[0075] The determining module 200 is used to establish respective border templates based on the image information, so as to determine the contour information of the first bonding component and the second bonding component respectively through the border templates;

[0076] The control module 300 is used to acquire the bonding position information of the first bonding component and the second bonding component, calculate the displacement information of the first bonding component and the second bonding component according to the bonding position information and the contour information using a preset algorithm, and control the robotic arm to bond the first bonding component and the second bonding component according to the displacement information.

[0077] Furthermore, the above-mentioned positioning and fitting device is characterized in that the determining module includes:

[0078] A creation unit is used to determine the respective contour images based on the acquired image information, and to receive the contour borders created by itself for the contour images to determine the respective border templates.

[0079] Furthermore, in the above-mentioned positioning and fitting device, the step of determining the contour border includes:

[0080] The system receives contour lines created by the system for each edge of the contour image, and when the contour line parameters meet the preset standards, it sequentially creates borders at the top left, bottom left, top right, and bottom right.

[0081] The final outline border is determined based on the top left, bottom left, top right, and bottom right borders.

[0082] Furthermore, in the aforementioned positioning and bonding device, the control module includes:

[0083] The conversion unit is used to obtain the image coordinate information of the first bonding component and the second bonding component respectively according to the contour information, and to perform corresponding matrix transformation on the image coordinate information to determine the robotic arm coordinate information of the first bonding component and the second bonding component.

[0084] The determining unit is used to determine the position transformation matrix of the robotic arm based on the robotic arm coordinate information of the first bonding component and the second bonding component and the bonding position information to determine the displacement information.

[0085] Furthermore, in the aforementioned positioning and bonding device, the conversion module includes:

[0086] The calibration unit is used to calibrate the image acquisition device and the robotic arm according to preset rules, and to obtain a transformation matrix between the image coordinate information of the image acquisition device and the robotic arm coordinate information of the robotic arm.

[0087] The conversion unit is used to perform a corresponding matrix transformation on the image coordinate information according to the conversion matrix to determine the robotic arm coordinate information of the first bonding component and the second bonding component.

[0088] Furthermore, in some optional embodiments of the present invention, the calibration unit is specifically used for:

[0089] When a circular marker is placed on the suction head of the robotic arm, the coordinates of the center of a preset number of the circular markers after the robotic arm rotates at the current position by a preset number of angles are collected, and the target center coordinates are determined based on the preset number of center coordinates.

[0090] After the robotic arm changes its current position, the steps of collecting the center coordinates of a preset number of circular markers after the robotic arm rotates a preset number of angles from its current position, and determining the target center coordinates based on the preset number of center coordinates are executed sequentially to determine multiple target center coordinates.

[0091] The transformation matrix between the image coordinate information and the robot arm coordinate information is determined based on the initial coordinates of the robot arm and the coordinates of the target center.

[0092] The functions or operation steps implemented by the above modules are largely the same as those in the above method embodiments, and will not be repeated here.

[0093] Example 3

[0094] In another aspect, the present invention provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in Embodiment 1 above.

[0095] Example 4

[0096] In another aspect, the present invention provides an electronic device, the electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method described in Embodiment 1 above.

[0097] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] Those skilled in the art will understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequential list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can mean any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0099] More specific examples (a non-exhaustive list) of computer-readable storage media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable storage media can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0100] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0101] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0102] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A positioning and bonding method, characterized in that, The method is applied in a positioning and bonding system, which includes at least a robotic arm for transfer and an image acquisition device, and includes: The robotic arm is controlled to transfer the first bonding component and the second bonding component to the acquisition range of the image acquisition device, so as to acquire image information of the first bonding component and the second bonding component respectively; Based on the image information, respective border templates are created to determine the contour information of the first and second bonding components. The bonding position information of the first bonding component and the second bonding component is obtained. Based on the bonding position information and the contour information, the displacement information of the first bonding component and the second bonding component is calculated according to a preset algorithm. The robotic arm is then controlled to bond the first bonding component and the second bonding component according to the displacement information. The preset algorithm is to calculate the position that minimizes the sum of the distances between the contour edges of the first bonding component and the contour edges of the second bonding component, and to use this position as the optimal bonding position to determine the displacement information. The step of creating respective border templates based on the image information includes: Based on the acquired image information, determine the respective contour images, and receive the contour borders created by the user for the contour images to determine the respective border templates; The steps for determining the outline border include: The system receives contour lines created by the system for each edge of the contour image, and when the contour line parameters meet the preset standards, it sequentially creates borders at the top left, bottom left, top right, and bottom right. The final outline border is determined based on the top left, bottom left, top right, and bottom right borders; The steps of obtaining the bonding position information of the first bonding component and the second bonding component, calculating the displacement information of the first bonding component and the second bonding component according to the bonding position information and the contour information using a preset algorithm, and controlling the robotic arm to bond the first bonding component and the second bonding component according to the displacement information include: Based on the contour information, the image coordinate information of the first bonding component and the second bonding component are obtained respectively, and the image coordinate information is subjected to corresponding matrix transformation to determine the robotic arm coordinate information of the first bonding component and the second bonding component. The position transformation matrix of the robotic arm is determined based on the robotic arm coordinate information and bonding position information of the first bonding component and the second bonding component to determine the displacement information; The step of performing a corresponding matrix transformation on the image coordinate information based on the image coordinate information to determine the robotic arm coordinate information of the first bonding component and the second bonding component includes: The image acquisition device and the robotic arm are calibrated according to preset rules to obtain a transformation matrix between the image coordinate information of the image acquisition device and the robotic arm coordinate information of the robotic arm. The image coordinate information is transformed according to the transformation matrix to determine the robotic arm coordinate information of the first bonding component and the second bonding component; The step of calibrating the image acquisition device and the robotic arm according to preset rules to obtain the transformation matrix between the image coordinate information of the image acquisition device and the robotic arm coordinate information includes: When a circular marker is placed on the suction head of the robotic arm, the coordinates of the center of a preset number of the circular markers after the robotic arm rotates at the current position by a preset number of angles are collected, and the target center coordinates are determined based on the preset number of center coordinates. After the robotic arm changes its current position, the steps of collecting the center coordinates of a preset number of circular markers after the robotic arm rotates by a preset number of angles at its current position, and determining the target center coordinates based on the preset number of center coordinates are executed sequentially to determine multiple target center coordinates. The transformation matrix between the image coordinate information and the robot arm coordinate information is determined based on the initial coordinates of the robot arm and the coordinates of the target center.

2. A positioning and bonding device, characterized in that, Applied in a positioning and bonding system, the positioning and bonding system at least includes a robotic arm for transfer and an image acquisition device, for implementing the positioning and bonding method of claim 1, wherein the device includes: The acquisition module is used to control the robotic arm to transfer the first bonding component and the second bonding component to the acquisition range of the image acquisition device, so as to acquire the image information of the first bonding component and the second bonding component respectively; The determining module is used to create respective border templates based on the image information, so as to determine the contour information of the first bonding component and the second bonding component respectively through the border templates; The control module is used to acquire the bonding position information of the first bonding component and the second bonding component, calculate the displacement information of the first bonding component and the second bonding component according to the bonding position information and the contour information using a preset algorithm, and control the robotic arm to bond the first bonding component and the second bonding component according to the displacement information.

3. A readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method as described in claim 1.

4. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the method as described in claim 1.

Images