Active-passive composite micro-vision guided robot micro-assembly system and method

Abstract

The application discloses a kind of active and passive compound micro visual guidance robot micro assembly system and method, including DLP projector, high-resolution industrial camera, ordinary industrial camera, doublet telecentric lens, ordinary telecentric lens, precision positioning robot, work platform, operating robot, end effector, ordinary positioning slide, imaging system support device etc., realize the coarse positioning of target in plane by high-resolution industrial camera, guide precision positioning robot to move target to plane center;By DLP projector projection coding pattern, trigger ordinary industrial camera to gather image containing coding information;Decoding algorithm processing is carried out to the image containing coding information, combined with calibration information, three-dimensional reconstruction algorithm is used to obtain the three-dimensional point cloud of target;Pretreatment and spatial pose estimation are carried out to point cloud data, realize high-precision three-dimensional visual perception, guide operating robot end end effector to accurately complete micro assembly task by the result of inverse kinematics solution.

Description

Technical Field

[0001] This invention belongs to the field of micro-assembly technology, and particularly relates to a micro-assembly system and method for a composite active-passive micro-vision guided robot. Background Technology

[0002] As a crucial part of the manufacturing of high-end microelectromechanical products, micro-assembly is key to ensuring the overall quality and performance of the product. Compared with traditional manual assembly methods aided by microscopes, automated micro-assembly using micro-vision-guided positioning and manipulation robots offers numerous advantages, including better consistency and higher reliability. Currently, the most critical aspect of automated micro-assembly technology is achieving effective perception of the three-dimensional spatial information of key targets within the micro-assembly process. Only by achieving precise three-dimensional micro-vision perception can the guided positioning and manipulation robot be guaranteed to complete the micro-assembly task with accuracy.

[0003] It should be noted that most current research on micro-vision guided robot micro-assembly focuses on planar or linear three-dimensional space. For spatial assembly of complex-shaped micro-targets involving posture adjustment, the current main solution is to break down the assembly process through manual intervention, transforming the complex assembly and positioning task into a multi-step task executed serially by a single robot (Agnus J, Chaillet N, Clévy C, et al. Robotic microassembly and micromanipulation at FEMTO-ST. Journal of Micro-Bio Robotics, 2013, 8(2): 91-106). This solution not only requires experienced personnel but also reduces efficiency and may even affect the final assembly result. Obviously, how to utilize micro-vision three-dimensional spatial perception to guide positioning and operation robots to complete general-purpose micro-assembly tasks in space is a challenge currently facing the development of micro-assembly technology.

[0004] Because telecentric lenses offer greater depth of field compared to traditional optical microscopes at the same magnification, their application in the field of microscopic 3D perception has been increasing in recent years, based on a parallel optical path design. However, when imaging at minute scales, the intensity of natural light is very low, resulting in generally poor image quality, particularly a lack of detail on the surface of micro-targets. This typically necessitates the use of artificial visible light sources, which increases the complexity of the hardware setup, leading to higher costs and less flexibility.

[0005] In the field of 3D perception in visual space, visual perception can be divided into two categories based on whether a special coded light source is required during the perception process: active vision and passive vision. Active vision includes a coded light source, while passive vision does not. For the former, the most common method is structured light based on DLP (Digital Light Processing) technology. Its basic principle is to actively project a pattern with coded information onto the scene and use a camera to observe how the projected pattern interacts with the surface of the target object to perceive depth. It has advantages such as insensitivity to object texture and high precision. Simultaneously, a special coded light source can replace the additional artificial visible light source required by a telecentric lens, reducing the cost and complexity of the system hardware. However, due to limitations in the arrangement of the projection and imaging light paths and the complexity of the micro-assembly targets and tasks, problems such as occlusion can easily occur.

[0006] For the latter, the most classic method is binocular / multi-view stereo vision. Its basic principle is to solve for the spatial 3D coordinates of corresponding points by matching the stereo disparity of feature points in multiple viewpoints and using calibrated epipolar geometric constraints. Further processing of the 3D feature point coordinate information obtained from stereo vision measurements enables spatial pose estimation or 3D shape perception of the corresponding target. While multi-view visual perception can effectively overcome occlusion problems, the lack of detailed surface features of the target object makes feature point matching susceptible to interference, which severely affects the 3D perception effect. Furthermore, the more viewpoints, the higher the mechanical complexity of the system.

[0007] As the complexity of micro-assembly tasks increases, the limitations of the aforementioned single-mode visual 3D perception methods become apparent. Therefore, there is an urgent need for a composite micro-vision guided robot micro-assembly system and method that combines active and passive vision to overcome the problems of single visual imaging modes in traditional micro-assembly research, including poor adaptability of visual perception algorithms, insufficient image feature redundancy, easy target occlusion, and high system mechanical complexity. This system should enable multi-mode imaging of different assembly stages and different objects. Summary of the Invention

[0008] To address the problems existing in the prior art, the present invention aims to provide a micro-assembly system and method for a composite active-passive micro-vision guided robot. This system guides the positioning and operation of the robot in micro-assembly tasks through vision, complementing the advantages of active and passive vision. It combines the insensitivity of structured light active micro-vision to target texture features with the multi-view perception advantage of multi-view passive micro-vision. A rationally designed multi-path telecentric micro-vision perception module effectively solves problems such as target occlusion and insufficient feature information redundancy in spatial 3D visual perception in micro-assembly scenarios. Simultaneously, it enhances the dexterity and applicability of micro-vision perception in handling complex micro-assembly tasks across scales and shapes, achieving high-precision 3D visual perception and ensuring that the guided positioning and operation robots accurately complete the micro-assembly tasks.

[0009] The present invention is achieved by at least one of the following technical solutions.

[0010] A composite active-passive micro-vision guided robot micro-assembly system includes a DLP projector, a high-resolution industrial camera, a general industrial camera, a double-magnification telecentric lens, a general telecentric lens, a precision positioning robot, a work platform, an operating robot, an end effector, a general positioning slide, and an imaging system support device.

[0011] The imaging system support device is connected to a common positioning slide. The imaging system support device is set above the work platform. The double-magnification telecentric lens is set on the imaging system support device and located in the middle of the imaging system support device. The common industrial camera is set on the imaging system support device and located on the left and right sides of the double-magnification telecentric lens. The DLP projector and the high-resolution industrial camera are respectively connected to the first interface and the second interface of the double-magnification telecentric lens. The common telecentric lens is connected to the common industrial camera. The work platform is set on the precision positioning robot and located below the double-magnification telecentric lens and the common telecentric lens. The operating robot is set on one side of the precision positioning robot. The end effector is set at the end of the operating robot and located in the workspace of the work platform.

[0012] Furthermore, the double-magnification telecentric lens is fixed on the imaging system support device with its optical axis perpendicular to the optical axis, and its reciprocating translational movement up and down and back and forth is achieved by a common positioning slide.

[0013] The ordinary industrial camera has its optical axes fixed on the imaging system support device, and its reciprocating translational movements up and down and back and forth are achieved through an ordinary positioning slide.

[0014] Furthermore, the ordinary telecentric lens is connected to an ordinary industrial camera and is located on the left and right sides of the double-magnification telecentric lens, and the optical axis of the ordinary telecentric lens and the optical axis of the double-magnification telecentric lens are located on the same plane.

[0015] Furthermore, the double-magnification telecentric lens includes a telecentric objective lens group, a beam splitter, and a collimating lens. After the incident light enters the double-magnification telecentric lens, it first passes through the telecentric objective lens group and is then split into two beams by the beam splitter. One beam directly penetrates the beam splitter and then passes through the collimating lens to the first interface in the vertical direction of the double-magnification telecentric lens. The other beam is reflected by the beam splitter and then passes through the collimating lens to the second interface in the horizontal direction of the double-magnification telecentric lens.

[0016] Furthermore, the DLP projector is connected to a first interface in the vertical direction of the double-magnification telecentric lens for projecting patterns with coded information;

[0017] The high-resolution industrial camera is connected to a second interface in the horizontal direction of a double-magnification telecentric lens for capturing images of the work platform.

[0018] DLP projectors and high-resolution industrial cameras share a single telecentric objective lens group via a double-magnification telecentric lens.

[0019] Furthermore, both ordinary telecentric lenses and double-magnification telecentric lenses have object-side telecentric or bilateral telecentric optical structures.

[0020] Furthermore, the precision positioning robot is composed of multiple axes, each of which moves either by rotation or translation and is independent of each other.

[0021] Furthermore, the robot has multiple degrees of freedom, which can be freely selected according to different needs.

[0022] Furthermore, the end effector is detachable and can be replaced according to different needs.

[0023] The method for implementing the aforementioned active-passive composite micro-vision guided robot micro-assembly system includes the following steps:

[0024] S1. Construct and calibrate a composite active and passive micro-vision guided robot micro-assembly system;

[0025] S2. Adjust the ordinary positioning slide to make the DLP projector, high-resolution industrial camera and ordinary industrial camera project and image the target on the work platform clearly within the working range.

[0026] S3. Use a high-resolution industrial camera to capture images of the work platform to achieve coarse positioning of the target on the plane and guide the precision positioning robot to move the target to the center of the image.

[0027] S4. Project the coded pattern using a DLP projector and trigger a regular industrial camera to capture an image containing the coded pattern information;

[0028] S5. Decode the image containing the encoded information, and use the three-dimensional reconstruction algorithm to obtain the three-dimensional point cloud of the target in combination with the calibration information in step S1.

[0029] S6. Perform point cloud data preprocessing and spatial pose estimation on the 3D point cloud of the target, then perform inverse kinematics solution, and input the results to the operating robot to guide the end effector to complete the corresponding operation of the target.

[0030] S7. Repeat steps S4-S6 until the entire micro-assembly task is completed.

[0031] Compared with the prior art, the present invention has at least the following beneficial technical effects, but is not limited to:

[0032] (1) By designing a reasonable multi-optical-path telecentric micro-visual perception module, and using a DLP projector to replace the additional artificial visible light source required by the telecentric lens, the cost and complexity of the system hardware can be reduced. At the same time, the common optical path design of the dual-magnification telecentric lens in the middle makes the system structure more compact.

[0033] (2) By combining the characteristics of structured light active vision being insensitive to target texture features with multi-view passive vision perceptualization, complementary advantages can be formed, which can simultaneously and effectively solve the problems of target occlusion and insufficient feature information redundancy in spatial three-dimensional visual perception in micro-assembly scenarios.

[0034] (3) Compared with the traditional single visual perception mode, the system provided by the present invention has a richer selection of imaging modes, a wider range of applicable scenarios and scopes, and can realize multi-mode imaging of different assembly stages / different objects, enhancing the dexterity and applicability of micro-visual perception in dealing with complex assembly tasks across scales and shapes. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of a micro-assembly system for a combined active and passive micro-vision guided robot according to an embodiment of the present invention.

[0036] Figure 2 This is a schematic diagram of the internal optical path principle of a double-magnification telecentric lens according to an embodiment of the present invention;

[0037] Figure 3 This is a flowchart illustrating a micro-assembly method for a combined active and passive micro-vision guided robot according to an embodiment of the present invention.

[0038] The diagram shows: 1-DLP projector, 2-high resolution industrial camera, 3-ordinary industrial camera, 4-double magnification telecentric lens, 5-ordinary telecentric lens, 6-precision positioning robot, 7-work platform, 8-operating robot, 9-end effector, 10-ordinary positioning slide, 11-imaging system support device, 401-telecentric objective lens group, 402-beam splitter prism, 403-collimating lens. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0040] In the description of this invention, it should be understood that the terms "middle", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0041] In the description of this invention, it should be understood that the terms "first" and "second" 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] In the description of this invention, it should be understood that, unless otherwise explicitly specified and limited, the terms "connection," "fixing," "installation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] Example 1

[0044] like Figure 1As shown, this embodiment provides a micro-assembly system for a composite active-passive micro-vision guided robot, including a DLP projector 1, a high-resolution industrial camera 2, a regular industrial camera 3, a double-magnification telecentric lens 4, a regular telecentric lens 5, a precision positioning robot 6, a work platform 7, an operating robot 8, an end effector 9, a regular positioning slide 10, and an imaging system support device 11.

[0045] The imaging system support device 11 is connected to the ordinary positioning slide 10 at both ends by bolts and is located above the working platform 7. The double-magnification telecentric lens 4 is fixed to the imaging system support device 11 by connectors and is located in the middle of the imaging system support device 11. The two ordinary industrial cameras 3 are fixed to the imaging system support device 11 by connectors and are located on the left and right sides of the double-magnification telecentric lens 4. The DLP projector 1 and the high-resolution industrial camera 2 are connected to the vertical and horizontal interfaces of the double-magnification telecentric lens 4 by threads, respectively. The two ordinary telecentric lenses 5 are connected to the two ordinary industrial cameras 3 on the left and right by threads, respectively. The working platform 7 is set on the precision positioning robot 6 and is located below the double-magnification telecentric lens 4 and the two ordinary telecentric lenses 5 on the left and right. The operating robot 8 is set on one side of the precision positioning robot 6. The end effector 9 is installed at the end of the operating robot 8 and is located in the working space on the working platform 7.

[0046] Specifically, the imaging system support device 11 is a beam structure, including a first beam and a second beam. The first beam is located in front of the second beam. The left and right sides of the two beams are respectively connected to the ordinary positioning slide 10. The two beams are equipped with tracks. The two beams are arranged in parallel and are independent of each other. The purpose is to enable the double-magnification telecentric lens 4 and the ordinary industrial camera 3 fixed on them to achieve reciprocating translational movements up and down and back and forth through the ordinary positioning slide 10, and to freely adjust their relative position relationship.

[0047] The dual-magnification telecentric lens 4 is fixed vertically to the first crossbeam of the imaging system support device 10 and is located on the rear side. Its purpose is to enable the connected DLP projector 1 and high-resolution industrial camera 2 to achieve clear projection and imaging on the plane of the work platform 7.

[0048] The ordinary industrial camera 3 is fixed on the second crossbeam of the imaging system support device 10 with cross optical axes, located on the front side. The two ordinary industrial cameras 3 are respectively connected to two ordinary telecentric lenses 5, located on the left and right sides of the double-magnification telecentric lens 4, and the optical axes of the two ordinary telecentric lenses 5 on the left and right sides and the optical axis of the double-magnification telecentric lens 4 in the middle are located on the same plane. The purpose is to maximize the overlap range of the depth of field and field of view of the ordinary telecentric lens 5 and the double-magnification telecentric lens 4 on the working platform 7.

[0049] In this embodiment, the DLP projector 1 is a Texas Instruments DLP3010 with a maximum resolution of 1280×720, a pixel size of 5.4μm, and a maximum projection frequency of 2880Hz (1bit) / 360Hz (8bit); the high-resolution industrial camera 2 is a gray-dot camera GS3U3-41C6M-C with a maximum resolution of 2048×2048 and a pixel size of 5.5μm; the ordinary industrial camera 3 is an IDS camera UI-3250CP with a maximum resolution of 1600x1200 and a pixel size of 4.5μm; the double-magnification telecentric lens 4 is a VisionClarity Technology DTCA111-111-72-AL with a double-telecentric optical structure and a maximum field of view of [missing information]. The magnification is 0.256×0.256, the depth of field is 7.6mm×7.6mm, and the working distance is 178mm; the standard telecentric lens 5 is the Edmund SilverTL from Edmund, with an object-side telecentric optical structure and a maximum field of view of [missing information]. The magnification is 0.3, the depth of field is 11.4mm, and the working distance is 139mm; the precision positioning robot 6 is a five-axis precision positioning platform that can realize translational motion along the X, Y, and Z axes and rotational motion around the Y and Z axes; the operation robot 8 is a seven-degree-of-freedom robotic arm, including six degrees of freedom of rotation and translation along the X, Y, and Z axes in space, plus one degree of freedom of extension at the end; the end effector 9 is a replaceable micro gripper.

[0050] Furthermore, in one possible implementation, the precision positioning robot 6 can be composed of any number and any orientation of single-axis precision positioning mechanisms, each axis moving in either rotation or translation, and each independent of the others.

[0051] Furthermore, in one possible implementation, the operating robot 8 can be a robotic arm with any degree of freedom, allowing for the selection and replacement of robotic arms with different degrees of freedom depending on the assembly task.

[0052] Furthermore, in one possible implementation, the end effector 9 can also be a replaceable micro vacuum suction device or a replaceable micro dispensing tube, which can be flexibly replaced according to the needs of different micro assembly tasks, greatly enhancing the system's dexterity and applicability in dealing with complex assembly tasks across scales and shapes.

[0053] like Figure 2As shown, to reduce mechanical complexity and make the system structure more compact, the double-magnification telecentric lens 4 adopts a common optical path design, including a telecentric objective lens group 401, a beam splitter prism 402, and a collimating lens 403. The common optical path of the telecentric objective lens group 401 in the double-magnification telecentric lens 4 is split into two paths by the beam splitter prism 402. One path directly passes through the beam splitter prism 402 and then through the collimating lens 403 to the first interface of the double-magnification telecentric lens 4 in the vertical direction, connecting to the DLP projector 1. This path is mainly used for projecting patterns with coded information. The other path is reflected by the beam splitter prism 402 and then through the collimating lens 403 to the second interface of the double-magnification telecentric lens 4 in the horizontal direction, connecting to the high-resolution industrial camera 2. This path is mainly used for capturing images at the work platform. The structured light projection optical path and the camera imaging optical path share the telecentric objective lens group 401 and the beam splitter prism 402, and each optical path can operate independently.

[0054] Furthermore, the DLP projector 1 and the high-resolution industrial camera 2 can be connected to any interface of the dual-magnification telecentric lens 4. In one possible implementation, the DLP projector 1 can be connected to the second interface in the horizontal direction of the dual-magnification telecentric lens 4, and the high-resolution industrial camera 2 can be connected to the first interface in the vertical direction.

[0055] Example 2

[0056] like Figure 3 As shown, this embodiment provides a micro-assembly method for a composite active-passive micro-vision guided robot, which mainly includes the following steps:

[0057] S1. Calibrate the active-passive composite micro-vision guided robot micro-assembly system;

[0058] S2. Adjust the ordinary positioning slide 10 to make the DLP projector 1, high-resolution industrial camera 2 and ordinary industrial camera 3 project and image the target at the working platform 7 clearly within the working range.

[0059] S3. By using computer control and high-resolution industrial camera 2 to capture images of the work platform 7, the target is coarsely positioned on the plane, and the precision positioning robot 6 is guided to move the target to the center of the image.

[0060] S4. The computer controls the DLP projector 1 to project the coded pattern and triggers the ordinary industrial camera 3 to acquire an image containing the coded pattern information.

[0061] S5. By using a computer to process the image containing coded information through a decoding algorithm, and combining it with the calibration information in S1, a three-dimensional point cloud of the target can be obtained using a three-dimensional reconstruction algorithm.

[0062] S6. The point cloud data is preprocessed and its spatial pose is estimated by computer, and then inverse kinematics is performed. The operation instructions corresponding to the results are input to the robot 8, thereby guiding the end effector 9 to complete the corresponding operation of the target.

[0063] S7. Repeat steps S4-S6 until the entire micro-assembly task is completed.

[0064] Example 3

[0065] In Example 1, the micro-vision perception module of a micro-assembly system for a composite active-passive micro-vision guided robot includes four optical paths: telecentric imaging optical paths on the left and right sides, a double-magnification telecentric structured light projection optical path and an imaging optical path in the middle (both share the telecentric objective lens group 403). Each imaging optical path can work independently or multiple paths can work simultaneously, or they can work in conjunction with the structured light projection optical path.

[0066] This embodiment is basically the same as embodiment 2, and is an extension of embodiment 2. In order to give full play to the capabilities of the designed multi-optical path active and passive composite micro vision perception module, in addition to the feature information provided by the ordinary industrial cameras 3 on the left and right sides, the feature information corresponding to the middle DLP projector 1 and the high-resolution industrial camera 2 is also introduced in the three-dimensional reconstruction algorithm in step S5 of this embodiment, which further increases the redundancy of feature information. Since more parameter information is introduced, the solution accuracy of the target three-dimensional point cloud can be further improved.

[0067] Based on Embodiment 2, this embodiment is another imaging mode of the system in Embodiment 1. Furthermore, since the system provided by the present invention includes multiple optical paths of active vision and passive vision, the system in Embodiment 1 can be extended to different imaging modes of multi-optical path combination, using more information to improve visual perception quality and increase visual perception accuracy, thereby more accurately guiding the precision positioning robot 6 and the operation robot 8 to complete complex micro-assembly tasks.

[0068] The above are merely specific embodiments of the present invention, which further elaborate on the principles, technical solutions and beneficial effects of the present invention. The selected specific embodiments do not limit the scope of protection of the invention. Any modifications, equivalent substitutions or improvements to the present invention based on the content of the present invention specification, or applications of the present invention in other related technical fields, should be included within the scope of protection of the present invention.

Claims

1. A composite active-passive micro-vision guided robot micro-assembly system, characterized in that: Includes DLP projector (1), high-resolution industrial camera (2), ordinary industrial camera (3), double-magnification telecentric lens (4), ordinary telecentric lens (5), precision positioning robot (6), work platform (7), operating robot (8), end effector (9), ordinary positioning slide (10), imaging system support device (11). The imaging system support device (11) is a beam structure, including a first beam and a second beam. The first beam is located in front of the second beam. The left and right sides of the two beams are connected to the ordinary positioning slide (10). The two beams are equipped with tracks. The two beams are parallel and independent of each other, so that the double-magnification telecentric lens (4) and the ordinary industrial camera (3) fixed on them can move up and down and back and forth through the ordinary positioning slide (10) to freely adjust their relative position relationship. The imaging system support device (11) is connected to the ordinary positioning slide (10). The imaging system support device (11) is located above the work platform (7). The double-magnification telecentric lens (4) is located on the imaging system support device (11) and in the middle of the imaging system support device (11). The ordinary industrial camera (3) is located on the imaging system support device (11) and on the left and right sides of the double-magnification telecentric lens (4). The DLP projector (1) and the high-resolution industrial camera (2) are connected to the first and second interfaces of the double-magnification telecentric lens (4) respectively. The ordinary telecentric lens (5) is connected to the ordinary industrial camera (3). The work platform (7) is set on the precision positioning robot (6) and located below the double-magnification telecentric lens (4) and the ordinary telecentric lens (5). The operating robot (8) is set on one side of the precision positioning robot (6). The end effector (9) is set at the end of the operating robot (8) and located in the workspace on the work platform (7). The double-magnification telecentric lens (4) is fixed on the imaging system support device (11) with its optical axis perpendicular to the axis, and its reciprocating translational motion up and down and back and forth is achieved by a common positioning slide (10); The ordinary industrial camera (3) is fixed on the imaging system support device (11) with cross optical axes, and realizes reciprocating translational movements up and down and back and forth through the ordinary positioning slide (10); The ordinary telecentric lens (5) is connected to the ordinary industrial camera (3) and is located on the left and right sides of the double-magnification telecentric lens (4), and the optical axis of the ordinary telecentric lens (5) and the optical axis of the double-magnification telecentric lens (4) are located on the same plane; The double-magnification telecentric lens (4) includes a telecentric objective lens group (401), a beam splitter (402), and a collimating lens (403). After the incident light enters the double-magnification telecentric lens (4), it first passes through the telecentric objective lens group (401) and is then split into two beams by the beam splitter (402). One beam passes directly through the beam splitter (402) and then passes through the collimating lens (403) to the first interface in the vertical direction of the double-magnification telecentric lens (4). The other beam is reflected by the beam splitter (402) and then passes through the collimating lens (403) to the second interface in the horizontal direction of the double-magnification telecentric lens (4). The method for implementing the aforementioned active-passive composite micro-vision guided robot micro-assembly system includes the following steps: S1. Construct and calibrate a composite active and passive micro-vision guided robot micro-assembly system; S2. Adjust the ordinary positioning slide (10) so that the DLP projector (1), high-resolution industrial camera (2) and ordinary industrial camera (3) can clearly project and image the target at the working platform (7) within the working range; S3. Use a high-resolution industrial camera (2) to capture images of the work platform (7) to achieve coarse positioning of the target on the plane and guide the precision positioning robot (6) to move the target to the center of the image. S4. Project the coded pattern using a DLP projector (1) and trigger a regular industrial camera (3) to capture an image containing the coded pattern information. S5. Decode the image containing the encoded information, and use the three-dimensional reconstruction algorithm to obtain the three-dimensional point cloud of the target in combination with the calibration information in step S1. S6. Perform point cloud data preprocessing and spatial pose estimation on the three-dimensional point cloud of the target, then perform inverse kinematics solution, and input the results to the operating robot (8) to guide the end effector to complete the corresponding operation of the target. S7. Repeat steps S4-S6 until the entire micro-assembly task is completed.

2. The active-passive composite micro-vision guided robot micro-assembly system according to claim 1, characterized in that: The DLP projector (1) is connected to the first interface in the vertical direction of the double magnification telecentric lens (4) for projecting patterns with coded information; The high-resolution industrial camera (2) is connected to the second interface in the horizontal direction of the double-magnification telecentric lens (4) for capturing images at the work platform. The DLP projector (1) and the high-resolution industrial camera (2) share a telecentric objective group (401) via a double-magnification telecentric lens (4).

3. The active-passive composite micro-vision guided robot micro-assembly system according to claim 1, characterized in that: Both the ordinary telecentric lens (5) and the double-magnification telecentric lens (4) have object-side telecentric or double-sided telecentric optical structures.

4. The active-passive composite micro-vision guided robot micro-assembly system according to claim 1, characterized in that: The precision positioning robot (6) is composed of multiple axes, each of which moves either by rotation or translation and is independent of each other.

5. The active-passive composite micro-vision guided robot micro-assembly system according to claim 1, characterized in that: The operating robot (8) has multiple degrees of freedom, which can be freely selected according to different needs.

6. The active-passive composite micro-vision guided robot micro-assembly system according to claim 1, characterized in that: The end effector (9) is detachable and can be replaced according to different needs.

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