A method for automatically attaching breathable membranes based on vision guidance

Abstract

The present invention discloses a method for automatically attaching a breathable film based on vision guidance. The method comprises: step S1, installing a camera, a light source, and a suction handle on a second manipulator and determining the photographing position; step S2, calibrating the camera and determining its intrinsic and extrinsic parameters; step S3, performing hand-eye calibration on the second manipulator and the camera at the second manipulator's execution end; step S4, registering the breathable film in a standard position and the lamp attachment holes in a standard position; step S5, securing the lamp to the execution end of the first manipulator; and step S6, using the second manipulator to photograph the breathable film from above a feeder and calculating the deviation distance. The present invention provides a method for automatically attaching a breathable film based on vision guidance, addressing the problem of low positioning accuracy during automatic breathable film attachment caused by factors such as product consistency of automotive lamps and manual placement errors.

Description

Technical Field

[0001] The invention relates to a method for automatically attaching a breathable film based on vision guidance, and belongs to the technical field of robot vision assembly. Background Art

[0002] Breathable film, a thin film made of a polymer material, boasts excellent waterproof, dustproof, and anti-fog properties and has been widely used in automotive lighting in recent years. It blocks water molecules, dust, and other substances from entering the interior of the lamp while allowing air to pass through, thereby maintaining dryness and air circulation within the lamp. The emergence of this film material provides an ideal solution for automotive lighting manufacturing. By using breathable film, automotive lighting manufacturers can significantly improve the waterproof and dustproof performance of the lamp, reducing the risk of rust and circuit failure of internal components. Furthermore, breathable film can balance the pressure difference between the inside and outside of the lamp, preventing problems such as lamp rupture caused by this pressure difference. These advantages have led to the widespread use of breathable film in automotive lighting manufacturing.

[0003] However, with the continuous expansion of breathable membrane applications and growing demand, traditional breathable membrane attachment methods are no longer able to meet production efficiency and precision requirements. Traditional breathable membrane attachment methods rely primarily on manual alignment of the membrane with the product to be attached. This method has significant drawbacks: First, manual operation is slow and cannot meet the needs of large-scale production; second, manual operation accuracy is difficult to guarantee, and problems such as attachment position deviation and bubbles are prone to occur, affecting product quality and appearance; finally, manual operation requires a significant amount of labor, increasing production costs for enterprises.

[0004] To address these issues, some companies have begun experimenting with automated equipment for breathable film application. However, existing automated equipment still has limitations. For example, while some devices can automate the application, they lack precise guidance and positioning mechanisms, hindering accuracy and stability. Other devices, while offering high precision, are complex to operate and difficult to maintain, hindering large-scale deployment and application. Furthermore, when applied to curved housings like automotive headlights, factors such as workpiece consistency and manual placement errors can significantly impact the accuracy and stability of automated application. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a method for automatically attaching a breathable film based on vision guidance to solve the problem of low positioning accuracy of automatically attaching the breathable film caused by factors such as consistency of automotive lighting products and manual placement errors.

[0006] In order to solve the above technical problems, the technical solution of the present invention is:

[0007] A method for automatically attaching a breathable film based on vision guidance, comprising:

[0008] Step S1: Install a camera, a light source, and a suction handle on the second manipulator and determine the photographing position;

[0009] Step S2: calibrate the camera and determine the intrinsic and extrinsic parameters of the camera;

[0010] Step S3: perform hand-eye calibration on the second manipulator and the camera at the end of the second manipulator;

[0011] Step S4: registering the standard position of the breathable membrane and the standard hole position of the lamp attachment hole;

[0012] Step S5: Fix the lamp on the first manipulator execution end;

[0013] Step S6: Using a second manipulator to photograph the breathable film above the feeder and calculate the deviation distance;

[0014] Step S7: Using the second manipulator, the suction handle is moved to the offset compensation position to suck the breathable membrane;

[0015] Step S8: The camera at the end of the second manipulator takes pictures in the X and Y directions of the plane where the standard hole position is located, and calculates the hole position angle difference;

[0016] Step S9: The first manipulator performs posture adjustment at the end to compensate for the angle of the lamp attachment hole;

[0017] Step S10: The camera at the end of the second manipulator is used to take a picture perpendicular to the lamp attachment hole and calculate the deviation distance;

[0018] Step S11: The second manipulator drives the suction handle to move, compensates for the deviation distance, and attaches the breathable film to the lamp attachment hole.

[0019] Furthermore, in step S1, a camera, a light source, and a suction handle are installed on the second manipulator and a photographing position is determined, which specifically includes the following steps:

[0020] Install the camera, light source and suction handle on the second manipulator execution end;

[0021] The suction handle is used to suck the breathable film material from the feeder;

[0022] The second manipulator is provided with a photographing position P1, a photographing position P2, a photographing position P3, and a photographing position P4. The photographing position P1 is located above the breathable membrane material at the material picking position of the feeder. The photographing position P2 and the photographing position P3 are respectively located in the X direction and Y direction of the plane where the standard hole position is located. The photographing position P4 is perpendicular to the lamp attachment hole position.

[0023] Furthermore, in step S2, the camera is calibrated and its intrinsic and extrinsic parameters are determined, which specifically includes the following steps:

[0024] Calibrate the camera at the end of the second manipulator, obtain the intrinsic and extrinsic parameters of the camera at the shooting positions P1, P2, P3, and P4, and determine the relationship between the image coordinate system and the world coordinate system.

[0025] Furthermore, in step S3, hand-eye calibration is performed on the second manipulator and the camera at the end of the second manipulator, which specifically includes the following steps:

[0026] In the hand-eye calibration, the hand refers to the second manipulator, and the eye refers to the camera at the end of the second manipulator.

[0027] The calibration plate is placed at the feeding position of the feeder and the lamp attachment hole respectively. The second robot execution end moves to nine different points. The camera takes an image of the specified circle on the calibration plate and calculates the nine pixel coordinates of the specified circle. At the same time, the coordinates of the second robot execution end corresponding to each point are recorded.

[0028] Calculate the relationship matrix between the camera coordinate system and the second manipulator execution end coordinate system based on the corresponding pixel coordinates of the nine points and the coordinates of the second manipulator execution end;

[0029] The relationship matrix between the camera coordinate system of each picture and the second manipulator execution end coordinate system is:

[0030]

[0031] in, Represents the transformation matrix from the second manipulator's end coordinate system to the camera coordinate system; Represents the transformation matrix from the calibration plate coordinate system to the camera coordinate system; Represents the transformation matrix from the manipulator base coordinate system to the calibration plate coordinate system; The transformation matrix representing the second manipulator execution end coordinate system to the manipulator base coordinate system;

[0032] Transform the relationship matrix into:

[0033]

[0034] Based on the nine points, the following eight formulas are established:

[0035]

[0036] in, Directly solve the problem by taking pictures of the calibration plate; The end pose parameters are obtained by the manipulator, so the

[0037] Calibrate the rotation center of the second manipulator:

[0038] The second robot's end-operator rotates and takes pictures at the lamp attachment hole. It first rotates 2° and 4° clockwise, returns to the origin, and then rotates 2° and 4° counterclockwise, obtaining a total of 5 points. A circle is fitted at these 5 points to obtain the coordinates of the circle center and the rotation radius. During the entire process, the camera can extract the required feature coordinates.

[0039] Perform circle fitting on the characteristic coordinate sequence in the world coordinate system and output the center coordinates of the circle, which are the rotation center coordinates.

[0040] Furthermore, in step S4, the standard position registration is performed on the breathable membrane, and the standard hole position registration is performed on the lamp attachment hole position, which specifically includes the following steps:

[0041] Perform hand-eye calibration at the photographing position P1. After the hand-eye calibration is completed, the camera at the end of the second manipulator takes a picture of the breathable membrane at the material picking position of the feeder at the photographing position P1. The suction handle at the end of the second manipulator is manually moved to overlap with the first breathable membrane. The image coordinates of the first breathable membrane and the manipulator coordinates of the second manipulator are recorded to complete the standard position registration of the breathable membrane.

[0042] The camera of the second manipulator moves to the photographing positions P2 and P3 to photograph the lamp attachment hole and the shell boundary as a standard image; after the hand-eye calibration at the photographing position P4 is completed, the camera at the execution end of the second manipulator moves to the photographing position P4 perpendicular to the lamp attachment hole for photographing, and the suction handle at the execution end of the second manipulator is manually moved to coincide with the lamp attachment hole, and the image coordinates of the lamp attachment hole and the manipulator coordinates of the second manipulator picking up the material are recorded to complete the standard hole position registration of the lamp attachment hole.

[0043] Furthermore, in step S6, the second manipulator photographs the breathable membrane above the feeder and calculates the deviation distance, which specifically includes the following steps:

[0044] Move the camera at the end of the second robot to the top of the feeding machine's material picking position to capture images of the three breathable membranes. Calculate the deviation distance in the X and Y directions between each breathable membrane at the feeding position and its respective standard position. The deviation distance of the first breathable membrane is (dx1, dy1), the deviation distance of the second breathable membrane is (dx2, dy2), and the deviation distance of the third breathable membrane is (dx3, dy3).

[0045] Furthermore, in step S7, the second manipulator moves the suction handle to the offset compensation position to suck the breathable membrane, which specifically includes the following steps:

[0046] Compensate the deviation distance of each breathable film at the current feeding machine's material taking position to the standard position coordinate (X t0 , Y t0 ), generate the offset compensation position of each breathable membrane, the offset compensation position of the first breathable membrane is (X t0 +dx1,Y t0 +dy1), the offset compensation position of the second breathable membrane is (X t0 +d x2 , Y t0 +d y2 ), the offset compensation position of the third breathable membrane is (X t0 +d x3 , Y t0 +d y3 ) and sends it to the second manipulator, which activates the negative pressure at the end of the suction handle and moves to the offset compensation position to suck the breathable membrane.

[0047] Furthermore, in step S8, the camera at the end of the second manipulator takes pictures in the X and Y directions of the plane where the standard hole position is located, and calculates the hole position angle difference, which specifically includes the following steps:

[0048] The second manipulator moves the camera at the end of the execution to the photo positions P2 and P3, takes images of the lamp attachment hole and the shell boundary, compares them with the standard image, and calculates the angle difference θ of the lamp attachment hole in the RX and RY directions. X and θ Y .

[0049] Furthermore, in step S9, the first manipulator performs posture adjustment at the end to compensate for the angle of the lamp attachment hole, which specifically includes the following steps:

[0050] The first manipulator executes the end according to the angle difference θ X and θ Y Rotate the lamp to compensate for the angle of the lamp attachment hole and correct the plane of the lamp attachment hole to the plane of the standard hole.

[0051] Furthermore, in step S10, the second manipulator executes the camera at the end to shoot perpendicularly to the lamp attachment hole and calculate the deviation distance, which specifically includes the following steps:

[0052] The camera at the end of the second manipulator moves to the photo position 4 to take an image of the lamp attachment hole position, and calculates the deviation distance (dx4, dy4) between the lamp attachment hole position and the standard hole position in the X and Y directions;

[0053] In step S11, the second manipulator drives the suction handle to move, compensates for the deviation distance, and attaches the breathable film to the lamp attachment hole, which specifically includes the following steps:

[0054] The deviation distance (dx4, dy4) between the current lamp attachment hole position and the standard hole position in the X and Y directions is sent to the second manipulator, which drives the suction handle to move. The second manipulator compensates the deviation distance (dx4, dy4) to the standard hole position coordinates (X k0 , Y k0 ) to generate the actual placement coordinates (X k0 +dx4,Y k0 +dy4), the second manipulator moves the suction handle at the end to the actual placement position, and then closes the suction handle to place the breathable membrane under negative pressure.

[0055] By employing the aforementioned technical solution, the machine vision-based breathable membrane-guided attachment method developed by this invention offers the advantages of high precision, high efficiency, and non-contact performance, enabling precise product guidance and positioning. By incorporating machine vision technology, automated and intelligent control of the breathable membrane attachment process can be achieved, improving production efficiency, ensuring attachment accuracy, reducing production costs, and enhancing product quality and consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 This is a flow chart of a method for automatically attaching a breathable film based on vision guidance according to the present invention;

[0057] Figure 2 This is a schematic diagram of the hardware installation of the present invention;

[0058] Figure 3 Schematic diagram of the coordinate transformation projection model of the present invention;

[0059] Figure 4 Schematic diagram of the movement trajectory of the nine-point calibration manipulator of the present invention;

[0060] Figure 5 This is a schematic diagram of the incoming material deviation distance compensation of the present invention. DETAILED DESCRIPTION

[0061] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0062] like Figure 1 As shown, this embodiment provides a method for automatically attaching a breathable film based on vision guidance, which is characterized by comprising:

[0063] Step S1: Install the camera 4, light source 5 and suction handle 3 on the second manipulator 2 and determine the photographing position;

[0064] Step S2: calibrate the camera 4 and determine the intrinsic and extrinsic parameters of the camera 4;

[0065] Step S3: perform hand-eye calibration on the second manipulator 2 and the camera 4 at the end of the second manipulator 2;

[0066] Step S4: registering the standard position of the breathable membrane 10 and the standard hole position of the lamp attachment hole 6;

[0067] Step S5: Fix the lamp 7 in the fixture 8 at the end of the first manipulator 1. After clamping, the first manipulator 1 moves to the fixed point to display the hole position to be attached.

[0068] Step S6: Use the second manipulator 2 to photograph the breathable membrane 10 above the feeder 9 and calculate the deviation distance;

[0069] Step S7: The second manipulator 2 moves the suction handle 3 to the offset compensation position to suck the breathable membrane 10;

[0070] Step S8: The camera 4 at the end of the second manipulator 2 takes pictures in the X and Y directions of the plane where the standard hole position is located, and calculates the hole position angle difference;

[0071] Step S9: The first manipulator 1 performs posture adjustment at the end to compensate for the angle of the lamp attachment hole 6;

[0072] Step S10: The camera 4 at the end of the second manipulator 2 is used to take a picture perpendicular to the lamp attachment hole 6 and calculate the deviation distance;

[0073] Step S11 : The second manipulator 2 drives the suction handle 3 to move, compensates for the deviation distance, and attaches the breathable membrane 10 to the lamp attachment hole 6 .

[0074] In step S1 of this embodiment, the camera 4, the light source 5, and the suction handle 3 are installed on the second manipulator 2 and the photographing position is determined, which specifically includes the following steps:

[0075] like Figure 2 As shown, the camera 4, light source 5 and suction handle 3 are all installed at the execution end of the second manipulator 2;

[0076] The suction handle 3 controls the vacuum generator through the manipulator to generate negative pressure for sucking the material from the breathable membrane 10 on the feeder 9;

[0077] The second manipulator 2 is provided with four photographing positions, namely photographing position P1, photographing position P2, photographing position P3, and photographing position P4. The photographing position P1 is located above the material of the breathable membrane 10 at the material picking position 11 of the feeder 9. The photographing position P2 and photographing position P3 are respectively located in the X direction and Y direction of the plane where the standard hole position is located. The photographing position P4 is perpendicular to the lamp attachment hole position 6. The standard hole position is the position of the lamp attachment hole position 6 when the camera 4 is hand-eye calibrated at the photographing position P4.

[0078] In step S2 of this embodiment, the camera 4 is calibrated and the intrinsic and extrinsic parameters of the camera 4 are determined, which specifically includes the following steps:

[0079] Calibrate the camera 4 at the end of the second manipulator 2 to obtain the intrinsic and extrinsic parameters of the camera 4 at the shooting positions P1, P2, P3, and P4, and determine the relationship between the image coordinate system and the world coordinate system. This is used to determine the coordinate mapping relationship between the 3D geometric position of a point on the surface of a spatial object and its corresponding point in the image. The detailed process is as follows:

[0080] The calibration plate is placed on the material picking position 11 of the feeder 9 and the lamp attachment hole 6 respectively. The camera 4 at the end of the second manipulator 2 takes 15 to 20 pictures of the calibration plate at different positions from different angles, and the intrinsic and extrinsic parameters of the camera 4 at the shooting positions P1, P2, P3, and P4 are obtained to determine the relationship between the pixel coordinate system and the world coordinate system, which is used to determine the relationship between the three-dimensional geometric position of a point on the surface of a spatial object and its corresponding point in the image.

[0081] like Figure 3 As shown, when determining the relationship between the pixel coordinate system and the world coordinate system, it is necessary to first determine the relationship between the pixel coordinate system and the image coordinate system, the image coordinate system and the camera 4 coordinate system, and the camera 4 coordinate system and the world coordinate system, and finally derive the relationship between the pixel coordinate system and the world coordinate system. The world coordinate system is the three-dimensional coordinates of an object in the real world. The camera 4 coordinate system is a coordinate system with the optical center of camera 4 as the origin, with the optical axis coinciding with the axis. The image coordinate system is the coordinate system of the image captured by camera 4, with the origin being the intersection of the optical axis of camera 4 and the imaging plane, which is the center point of the image. The pixel coordinate system is the pixel position of a point on the image in the image storage matrix, with the coordinate origin in the upper left corner. The units of the world coordinate system, camera 4 coordinate system, and image coordinate system are millimeters, while the unit of the pixel coordinate system is pixels.

[0082] By calibrating camera 4, the intrinsic parameters and extrinsic parameters of camera 4 can be obtained. The intrinsic parameters of camera 4 are parameters related to the characteristics of camera 4 itself, such as the focal length and pixel size of camera 4. The intrinsic parameters can determine the mapping relationship between three-dimensional space and two-dimensional space, and can correct the distortion caused by the shape of the lens itself; the extrinsic parameters of camera 4 are the position and rotation direction of camera 4, and can correct the distortion caused by the error in the posture relationship between camera 4 and the photographed object.

[0083] The transformation relationship from the world coordinate system to the camera 4 coordinate system is shown as follows:

[0084]

[0085] Among them, X c 、Y c 、Z c Indicates the three-dimensional coordinates of the target point in the camera 4 coordinate system, X w 、Y w 、Z w is the three-dimensional coordinate of the target point in the world coordinate system; the transformation from the world coordinate system to the camera 4 coordinate system is a rigid body transformation, which can be completed by rotation and translation of the coordinate system. R is the rotation matrix and T is the translation vector.

[0086] The transformation relationship from the camera 4 coordinate system to the image coordinate system is shown as follows:

[0087]

[0088] Among them, x and y represent the image coordinates, X c 、Y c 、Z c represents the three-dimensional coordinates of the target point in the coordinate system of camera 4, and f is the focal length of camera 4.

[0089] The transformation relationship between the pixel coordinate system and the image coordinate system is shown in the following formula:

[0090]

[0091] Among them, u and v represent pixel coordinates, x and y represent image coordinates, and f x 、f y Indicates that there are f per millimeter in the x direction of the image x pixels, and f pixels per millimeter in the y direction y pixels, where c x 、c y It is the coordinate of the origin of the image coordinate system in the pixel coordinate system.

[0092] In step S3 of this embodiment, hand-eye calibration is performed on the second manipulator 2 and the camera 4 at the end of the second manipulator 2, which specifically includes the following steps:

[0093] In the hand-eye calibration, the hand refers to the second manipulator 2, and the eye refers to the camera 4 at the end of the second manipulator 2;

[0094] like Figure 4 As shown, the calibration plate is placed on the material taking position 11 of the feeder 9 and the lamp attachment hole 6 respectively, and the second manipulator 2 moves to nine different points. The camera 4 takes a picture of the specified circle on the calibration plate and calculates the nine pixel coordinates of the specified circle. At the same time, the coordinates of the second manipulator 2 corresponding to each point are recorded.

[0095] According to the corresponding pixel coordinates of the nine points and the coordinates of the second manipulator 2 execution end, the relationship matrix between the camera 4 coordinate system and the second manipulator 2 execution end coordinate system can be obtained;

[0096] The relationship matrix between the camera 4 coordinate system of each picture and the second manipulator 2 execution end coordinate system is:

[0097]

[0098] in, Represents the transformation matrix from the end coordinate system of the second manipulator 2 to the coordinate system of the camera 4; Represents the transformation matrix from the calibration plate coordinate system to the camera 4 coordinate system; Represents the transformation matrix from the manipulator base coordinate system to the calibration plate coordinate system; The transformation matrix from the end coordinate system of the second manipulator 2 to the manipulator base coordinate system is represented;

[0099] Transform the relationship matrix into:

[0100]

[0101] Based on the nine points, the following eight formulas are established:

[0102]

[0103] in, Directly solve the problem by taking pictures of the calibration plate; The end pose parameters are obtained by the manipulator, so the

[0104] At the photo taking positions P2 and P3, the angle of the object in the image needs to be calculated. However, the center of the end tool of the second manipulator 2 does not coincide with its own rotation center, resulting in inaccurate guidance angles. Therefore, the rotation center of the second manipulator 2 needs to be calibrated:

[0105] The second manipulator 2 executes a rotation at the end of the lamp attachment hole 6 to take pictures. It first rotates 2° and 4° clockwise, returns to the origin, and then rotates 2° and 4° counterclockwise to obtain a total of 5 points. The 5 points are fitted into a circle and the center coordinates and rotation radius are obtained. During the whole process, the camera 4 can extract the required feature coordinates;

[0106] Perform circle fitting on the characteristic coordinate sequence in the world coordinate system and output the center coordinates of the circle, which are the rotation center coordinates.

[0107] In step S4 of this embodiment, the standard position registration is performed on the breathable membrane 10 and the standard hole position registration is performed on the lamp attachment hole 6, which specifically includes the following steps:

[0108] Hand-eye calibration is performed at the photographing position P1. After the hand-eye calibration is completed, the camera 4 at the end of the second manipulator 2 takes a picture of the breathable membrane 10 at the picking position 11 of the feeder 9 at the photographing position P1. The suction handle 3 at the end of the second manipulator 2 is manually moved to overlap the first breathable membrane 10. The image coordinates of the first breathable membrane 10 and the manipulator coordinates of the second manipulator 2 picking up the material are recorded to complete the standard position registration of the breathable membrane 10.

[0109] The camera 4 of the second manipulator 2 moves to the photographing positions P2 and P3 to photograph the lamp attachment hole 6 and the boundary line of the shell as a standard image; after the hand-eye calibration at the photographing position P4 is completed, the camera 4 at the execution end of the second manipulator 2 moves to the photographing position P4 perpendicular to the lamp attachment hole 6 for photographing, and the suction handle 3 at the execution end of the second manipulator 2 is manually moved to coincide with the lamp attachment hole 6, and the image coordinates of the lamp attachment hole 6 and the manipulator coordinates of the second manipulator 2 for picking up materials are recorded to complete the standard hole position registration of the lamp attachment hole 6.

[0110] In step S6 of this embodiment, the second manipulator 2 photographs the breathable membrane 10 above the feeder 9 and calculates the deviation distance, which specifically includes the following steps:

[0111] Move the camera 4 at the end of the second manipulator 2 to above the material picking position 11 of the feeder 9 to capture images of the three breathable membranes 10. Calculate the deviation distance in the X and Y directions between each breathable membrane 10 at the material picking position 11 and its respective standard position. The deviation distance of the first breathable membrane 10 is (dx1, dy1), the deviation distance of the second breathable membrane 10 is (dx2, dy2), and the deviation distance of the third breathable membrane 10 is (dx3, dy3).

[0112] The feeder 9 is equipped with an optical fiber sensor. When all three breathable membranes 10 on the material taking position 11 are taken away, the feeder 9 will automatically push the next row of three breathable membranes 10 materials to the material taking position 11.

[0113] The standard position of the breathable membrane 10 is the position of the first breathable membrane 10 at the feeding position 11 of the feeder 9 when the second manipulator 2 executes the end camera 4 to perform the reference position registration at the photographing position P1. The position coordinates of the three breathable membranes 10 at the feeding position 11 of the feeder 9 can be obtained by taking a photo once. This method improves the operating rhythm of the equipment.

[0114] The algorithm steps for calculating the coordinates of the breathable membrane 10 are as follows: using a contour search operator to match the breathable membrane 10 to correct the image to the standard image position; using a trend edge operator to fit the edge of the breathable membrane 10 to calculate the coordinates of the center of the breathable membrane 10.

[0115] In step S7 of this embodiment, the second manipulator 2 moves the suction handle 3 to the offset compensation position to suck the breathable membrane 10, which specifically includes the following steps:

[0116] like Figure 5 As shown, the deviation distance of each breathable membrane 10 at the current feeding position 11 of the feeder 9 is compensated to the standard position coordinate (X t0 , Y t0 ), the offset compensation position of each breathable membrane 10 is generated, and the offset compensation position of the first breathable membrane 10 is (X t0 +dx1,Y t0 +dy1), the offset compensation position of the second breathable membrane 10 is (X t0 +d x2 , Y t0 +d y2 ), the offset compensation position of the third breathable membrane 10 is (X t0 +d x3 , Y t0 +d y3 ), and sends it to the second manipulator 2, which executes the suction handle 3 at the end to open the negative pressure and move to the offset compensation position to suck the breathable membrane 10.

[0117] In step S8 of this embodiment, the second manipulator 2 executes the camera 4 at the end to shoot in the X and Y directions of the plane where the standard hole position is located, and calculates the hole position angle difference, which specifically includes the following steps:

[0118] The second manipulator 2 moves the camera 4 at the end of the execution to the photographing positions P2 and P3, takes images of the lamp attachment hole 6 and the shell boundary, compares them with the standard image, and calculates the angle difference θ of the lamp attachment hole 6 in the RX and RY directions. X and θ Y .

[0119] In step S9 of this embodiment, the first manipulator 1 performs posture adjustment at the end to compensate for the angle of the lamp attachment hole 6, which specifically includes the following steps:

[0120] The first manipulator 1 executes the end according to the angle difference θ X and θ Y Rotate to compensate the angle of the lamp attachment hole 6, correct the hole plane angle error caused by factors such as lamp 7 product consistency and manual placement error, and correct the plane where the lamp attachment hole 6 is located to the plane where the standard hole is located to improve the accuracy of automatic attachment of the equipment.

[0121] In step S10 of this embodiment, the second manipulator 2 executes the camera 4 at the end to shoot perpendicularly to the lamp attachment hole 6 and calculate the deviation distance, which specifically includes the following steps:

[0122] The camera 4 at the end of the second manipulator 2 moves to the photographing position 4 to take an image of the lamp attachment hole 6 and calculates the deviation distance (dx4, dy4) between the lamp attachment hole 6 and the standard hole position in the X and Y directions.

[0123] The algorithm steps for calculating the coordinates of the lamp attachment hole 6 are as follows: using the contour search operator to match the hole position to correct the image to the standard image position; using the trend edge operator to fit the hole edge and calculate the coordinates of the center of the breathable membrane 10.

[0124] In step S11 of this embodiment, the second manipulator 2 drives the suction handle 3 to move, compensates for the deviation distance, and attaches the breathable membrane 10 to the lamp attachment hole 6, which specifically includes the following steps:

[0125] The deviation distance (dx4, dy4) between the current lamp attachment hole position 6 and the standard hole position in the X and Y directions is sent to the second manipulator 2, and the suction handle 3 is moved by the second manipulator 2. The second manipulator 2 compensates the deviation distance (dx4, dy4) to the standard hole position coordinates (X k0 , Y k0 ), generate the actual placement position coordinates (X k0 +dx4,Y k0 +dy4), the second manipulator 2 moves the suction handle 3 at the end to the actual placement position, and then closes the suction handle 3 to place the breathable membrane 10 under negative pressure.

[0126] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for automatically attaching a breathable film based on vision guidance, characterized in that: It includes: Step S1, installing a camera (4), a light source (5) and a suction handle (3) on the second manipulator (2) and determining a photographing position; Step S2, calibrating the camera (4) and determining the intrinsic parameters and extrinsic parameters of the camera (4); Step S3, performing hand-eye calibration on the second manipulator (2) and the camera (4) at the end of the second manipulator (2); Step S4, registering the standard position of the breathable membrane (10) and the standard hole position of the lamp attachment hole (6); Step S5, fixing the lamp (7) on the execution end of the first manipulator (1); Step S6: photographing the breathable membrane (10) above the feeder (9) by the second manipulator (2) and calculating the deviation distance; Step S7: Using the second manipulator (2), the suction handle (3) is moved to the offset compensation position to suck the breathable membrane (10); Step S8: The second manipulator (2) executes the camera (4) at the end to take pictures in the X and Y directions of the plane where the standard hole position is located, and calculates the hole position angle difference; Step S9: The first manipulator (1) performs posture adjustment at the end to compensate for the angle of the lamp attachment hole (6); Step S10: The second manipulator (2) executes the camera (4) at the end to take pictures perpendicular to the lamp attachment hole (6) and calculate the deviation distance; Step S11: The second manipulator (2) drives the suction handle (3) to move, compensates for the deviation distance, and attaches the breathable membrane (10) to the lamp attachment hole (6); In the step S1, a camera (4), a light source (5) and a suction handle (3) are installed on the second manipulator (2) and a photographing position is determined, which specifically includes the following steps: The camera (4), light source (5) and suction handle (3) are all mounted on the execution end of the second manipulator (2); The suction handle (3) is used to suck the material of the breathable membrane (10) on the feeder (9); The second manipulator (2) is provided with a photographing position P1, a photographing position P2, a photographing position P3, and a photographing position P4, wherein the photographing position P1 is located above the material of the breathable membrane (10) at the material taking position (11) of the feeder (9), the photographing position P2 and the photographing position P3 are respectively located in the X direction and the Y direction of the plane where the standard hole position is located, and the photographing position P4 is perpendicular to the lamp attachment hole position (6); In the step S4, the standard position registration is performed on the breathable membrane (10), and the standard hole position registration is performed on the lamp attachment hole (6), which specifically includes the following steps: Hand-eye calibration is performed at the photographing position P1. After the hand-eye calibration is completed, the camera (4) at the execution end of the second manipulator (2) photographs the breathable film (10) at the material picking position (11) of the feeder (9) at the photographing position P1, and the suction handle (3) at the execution end of the second manipulator (2) is manually moved to overlap with the first breathable film (10). The image coordinates of the first breathable film (10) and the manipulator coordinates of the second manipulator (2) picking up the material are recorded to complete the standard position registration of the breathable film (10); The camera (4) of the second manipulator (2) moves to the photographing positions P2 and P3 to photograph the lamp attachment hole position (6) and the shell boundary as a standard image; after the hand-eye calibration at the photographing position P4 is completed, the camera (4) at the execution end of the second manipulator (2) moves to the photographing position P4 perpendicular to the lamp attachment hole position (6) for photographing, and the suction handle (3) at the execution end of the second manipulator (2) is manually moved to coincide with the lamp attachment hole position (6), and the image coordinates of the lamp attachment hole position (6) and the manipulator coordinates of the second manipulator (2) for picking up materials are recorded to complete the standard hole position registration of the lamp attachment hole position (6).

2. The method for automatically attaching a breathable film based on vision guidance according to claim 1, characterized in that: In step S2, the camera (4) is calibrated and the intrinsic and extrinsic parameters of the camera (4) are determined, specifically comprising the following steps: The camera (4) at the execution end of the second manipulator (2) is calibrated, the intrinsic parameters and extrinsic parameters of the camera (4) at the photographing positions P1, P2, P3, and P4 are obtained, and the relationship between the image coordinate system and the world coordinate system is determined.

3. The method for automatically attaching a breathable film based on vision guidance according to claim 2, characterized in that: In the step S3, the second manipulator (2) and the camera (4) at the end of the second manipulator (2) are subjected to hand-eye calibration, which specifically includes the following steps: In the hand-eye calibration, the hand refers to the second manipulator (2), and the eye refers to the camera (4) at the end of the second manipulator (2); The calibration plate is placed on the material taking position (11) of the feeder (9) and the lamp attachment hole position (6), and the second manipulator (2) moves the execution end to nine different points. The camera (4) takes a picture of the designated circle on the calibration plate and calculates the nine pixel coordinates of the designated circle. At the same time, the coordinates of the execution end of the second manipulator (2) corresponding to each point are recorded; Calculate the relationship matrix between the camera (4) coordinate system and the second manipulator (2) execution end coordinate system based on the corresponding pixel coordinates of the nine points and the coordinates of the second manipulator (2); The relationship matrix between the camera (4) coordinate system of each picture and the second manipulator (2) execution end coordinate system is: in, represents the transformation matrix from the end coordinate system of the second manipulator (2) to the coordinate system of the camera (4); represents the transformation matrix from the calibration plate coordinate system to the camera (4) coordinate system; Represents the transformation matrix from the manipulator base coordinate system to the calibration plate coordinate system; The transformation matrix representing the second manipulator (2) from the end coordinate system to the manipulator base coordinate system; Transform the relationship matrix into: Based on the nine points, the following eight formulas are established: in, Directly solve the problem by taking pictures of the calibration plate; The end pose parameters are obtained by the manipulator, so the Calibrate the rotation center of the second manipulator (2): The second manipulator (2) executes a rotation at the end of the lamp attachment hole (6) to take a photo. First, it rotates 2° and 4° clockwise, returns to the origin, and then rotates 2° and 4° counterclockwise to obtain a total of 5 points. The 5 points are fitted into a circle and the center coordinates and rotation radius are obtained. During the whole process, the camera (4) can extract the required feature coordinates. Perform circle fitting on the characteristic coordinate sequence in the world coordinate system and output the center coordinates of the circle, which are the rotation center coordinates.

4. The method for automatically attaching a breathable film based on vision guidance according to claim 3, characterized in that: In the step S6, the second manipulator (2) photographs the breathable membrane (10) above the feeder (9) and calculates the deviation distance, which specifically includes the following steps: The camera (4) at the end of the second manipulator (2) is moved to the top of the material picking position (11) of the feeder (9) to take images of the three breathable membranes (10), and the deviation distances of each breathable membrane (10) at the material picking position (11) from the standard position in the X and Y directions are calculated. The deviation distance of the first breathable membrane (10) is (dx1, dy1), the deviation distance of the second breathable membrane (10) is (dx2, dy2), and the deviation distance of the third breathable membrane (10) is (dx3, dy3).

5. The method for automatically attaching a breathable film based on vision guidance according to claim 4, characterized in that: In the step S7, the suction handle (3) is moved to the offset compensation position by the second manipulator (2) to suck the breathable membrane (10), which specifically includes the following steps: Compensate the deviation distance of each breathable membrane (10) at the current feeding position (11) of the feeder (9) to the standard position coordinate (X t0 , Y t0 ), the offset compensation position of each breathable membrane (10) is generated, and the offset compensation position of the first breathable membrane (10) is (X t0 +dx1,Y t0 +dy1), the offset compensation position of the second breathable membrane (10) is (X t0 +d x2 , Y t0 +d y2 ), the offset compensation position of the third breathable membrane (10) is (X t0 +d x3 , Y t0 +d y3 ) and sends it to the second manipulator (2), which executes the suction handle (3) at the end to open the negative pressure and move to the offset compensation position to suck the breathable membrane (10).

6. The method for automatically attaching a breathable film based on vision guidance according to claim 5, characterized in that: In the step S8, the camera (4) at the end of the second manipulator (2) is used to take pictures in the X and Y directions of the plane where the standard hole position is located, and the hole position angle difference is calculated, which specifically includes the following steps: The second manipulator (2) moves the camera (4) at the end of the execution to the photographing positions P2 and P3, takes images of the lamp attachment hole (6) and the shell boundary, compares them with the standard image, and calculates the angle difference θ of the lamp attachment hole (6) in the RX and RY directions. X and θ Y .

7. The method for automatically attaching a breathable film based on vision guidance according to claim 6, characterized in that: In step S9, the first manipulator (1) performs posture adjustment at the end to perform angle compensation on the lamp attachment hole (6), specifically comprising the following steps: The first manipulator (1) executes the end according to the angle difference θ X and θ Y The lamp is rotated to compensate for the angle of the lamp attachment hole (6), and the plane where the lamp attachment hole (6) is located is corrected to the plane where the standard hole is located.

8. The method for automatically attaching a breathable film based on vision guidance according to claim 7, characterized in that: In the step S10, the second manipulator (2) executes the camera (4) at the end to shoot perpendicularly to the lamp attachment hole (6) and calculate the deviation distance, which specifically includes the following steps: The second manipulator (2) moves the camera (4) at the end thereof to the photographing position 4 to photograph the image of the lamp attachment hole position (6), and calculates the deviation distance (dx4, dy4) between the lamp attachment hole position (6) and the standard hole position in the X and Y directions; In the step S11, the second manipulator (2) drives the suction handle (3) to move, compensates for the deviation distance and attaches the breathable membrane (10) to the lamp attachment hole (6), which specifically includes the following steps: The deviation distance (dx4, dy4) between the current lamp attachment hole position (6) and the standard hole position in the X and Y directions is sent to the second manipulator (2), and the suction handle (3) is driven by the second manipulator (2) to move, and the second manipulator (2) compensates the deviation distance (dx4, dy4) to the standard hole position coordinate (X k0 , Y k0 ), generate the actual placement position coordinates (X k0 +dx4,Y k0 +dy4), the second manipulator (2) moves the suction handle (3) at the end to the actual placement position, and then closes the suction handle (3) to place the breathable membrane (10) under negative pressure.

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