PCB soft needle alignment method, device, equipment, medium and product

Abstract

The application discloses a PCB soft needle alignment method, device, equipment, medium and product. The method comprises the following steps: obtaining a first reference image collected by a first camera and a second reference image collected by a second camera when a target soft needle is moved from a target bottom shell to a first processing position; performing image processing on the first reference image to obtain a transverse coordinate corresponding to a transverse slice of the target soft needle; performing image processing on the second reference image to obtain a longitudinal coordinate corresponding to a longitudinal slice of the target soft needle in the second reference image and a longitudinal angle corresponding to the longitudinal slice; determining a reference alignment point coordinate of the target soft needle according to the transverse coordinate corresponding to the transverse slice of the target soft needle and the longitudinal coordinate corresponding to the longitudinal slice, and determining a reference alignment angle of the target soft needle as the longitudinal angle corresponding to the longitudinal slice. Through the technical scheme, the accuracy of determining the reference alignment point and the reference alignment angle of the target soft needle can be improved, and the accuracy of soft needle alignment is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of computer technology, and in particular to a PCB soft pin alignment method, apparatus, device, medium and product. Background Technology

[0002] With the development of technology, laser-cut PCB chips play a very important role in many fields. Laser-cut PCB chips are thin and flexible, with a thickness of approximately 0.1mm, and are referred to as soft needles. In current technology, soft needles are assembled into a base shell for easy blood glucose measurement.

[0003] Normally, when assembling the soft needle into the base shell, the operator manually uses clamps to pick up the soft needle, inserts the needle tip into the center of the groove in the base shell, and the soft needle is precisely positioned in the groove. The entire process requires the operator to be highly focused, and it cannot be guaranteed to be assembled successfully on the first try. Multiple manual adjustments are required to complete the assembly, making the entire process extremely time-consuming and unable to guarantee production volume and efficiency. Therefore, it is generally advisable to first obtain the reference information of the soft needle and the base shell, then align the soft needle and the base shell according to the reference information of the soft needle and the base shell, and then assemble the soft needle into the base shell.

[0004] However, because the soft needle itself is too thin and the middle groove of the soft needle has a rounded corner, it is difficult to accurately obtain the reference information of the soft needle when obtaining the reference information of the soft needle. This results in the soft needle and the bottom shell not being accurately aligned, which in turn affects the production and efficiency of soft needle assembly on the bottom shell. Summary of the Invention

[0005] This invention provides a PCB soft pin alignment method, apparatus, device, medium, and product to solve the problem that the soft pin cannot be accurately aligned with the base shell due to the difficulty in accurately obtaining the soft pin's reference information, which in turn affects the production and efficiency of soft pin assembly on the base shell.

[0006] According to one aspect of the present invention, a PCB soft pin alignment method is provided, applied to a PCB soft pin alignment system, the PCB soft pin alignment system comprising: a target base shell, a target soft pin, a first camera located below the target soft pin, and a second camera located to the side of the target soft pin, the PCB soft pin alignment method comprising:

[0007] The first reference image captured by the first camera and the second reference image captured by the second camera are obtained when the target soft needle is removed from the target bottom shell and moved to the first processing position. The reference alignment angle of the target soft needle remains unchanged during the process of removing the target soft needle from the target bottom shell and moving it to the first processing position.

[0008] Image processing is performed on the first reference image to obtain the lateral coordinates corresponding to the lateral thin slice of the target soft needle in the first reference image;

[0009] Image processing is performed on the second reference image to obtain the longitudinal coordinates and longitudinal angles corresponding to the longitudinal slices of the target soft needle in the second reference image.

[0010] The reference alignment point coordinates of the target soft needle are determined based on the lateral coordinates corresponding to the lateral thin slice of the target soft needle and the longitudinal coordinates corresponding to the longitudinal thin slice, and the longitudinal angle corresponding to the longitudinal thin slice is determined as the reference alignment angle of the target soft needle.

[0011] According to another aspect of the present invention, a PCB soft pin alignment device is provided, configured in a PCB soft pin alignment system, the PCB soft pin alignment system comprising: a target base shell, a target soft pin, a first camera located below the target soft pin, and a second camera located to the side of the target soft pin, the PCB soft pin alignment device comprising:

[0012] The target soft needle acquisition module is used to acquire a first reference image captured by a first camera and a second reference image captured by a second camera when the target soft needle is removed from the target bottom shell and moved to a first processing position, wherein the reference alignment angle of the target soft needle remains unchanged during the process of the target soft needle being removed from the target bottom shell and moved to the first processing position;

[0013] The lateral coordinate acquisition module is used to perform image processing on the first reference image to obtain the lateral coordinates corresponding to the lateral thin slice of the target soft needle in the first reference image;

[0014] The longitudinal coordinate acquisition module is used to perform image processing on the second reference image to obtain the longitudinal coordinates and longitudinal angles corresponding to the longitudinal slices of the target soft needle in the second reference image.

[0015] The soft needle reference determination module is used to determine the reference alignment point coordinates of the target soft needle based on the transverse coordinates corresponding to the transverse thin slice and the longitudinal coordinates corresponding to the longitudinal thin slice, and to determine the longitudinal angle corresponding to the longitudinal thin slice as the reference alignment angle of the target soft needle.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the PCB soft pinning method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the PCB soft pinning method according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer program product is provided, which, when executed by a processor, implements the PCB soft pinning method as described in any of the embodiments of the present invention.

[0022] This invention, in its embodiment, acquires a first reference image captured by a first camera and a second reference image captured by a second camera when the target soft needle is removed from the target shell and moved to a first processing position. During the process of removing the target soft needle from the target shell and moving it to the first processing position, the reference alignment angle of the target soft needle remains unchanged. Image processing is performed on the first reference image to obtain the lateral coordinates corresponding to the lateral slice of the target soft needle in the first reference image. Image processing is performed on the second reference image to obtain the longitudinal coordinates and longitudinal angle corresponding to the longitudinal slice of the target soft needle in the second reference image. The reference alignment point of the target soft needle is determined based on the lateral coordinates corresponding to the lateral slice and the longitudinal coordinates corresponding to the longitudinal slice. The method involves using a first camera and a second camera to simultaneously capture images of the target soft needle at the same processing position. The first reference image determines the lateral coordinates of the target soft needle, while the second reference image determines its lateral coordinates and lateral angle. A new virtual coordinate system is then constructed based on these coordinates to obtain the reference alignment point coordinates and the reference alignment angle of the target soft needle. This provides precise reference information for the soft needle, ensuring accurate alignment between the soft needle and the base shell and improving the efficiency of soft needle assembly.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of a PCB soft pin alignment method according to Embodiment 1 of the present invention;

[0026] Figure 2 This is a schematic diagram of a target base shell and a target soft needle in Embodiment 1 of the present invention;

[0027] Figure 3 This is a schematic diagram of a first camera and a second camera according to Embodiment 1 of the present invention;

[0028] Figure 4 This is a schematic diagram of a first reference image in Embodiment 1 of the present invention;

[0029] Figure 5 This is a schematic diagram of a second reference image in Embodiment 1 of the present invention;

[0030] Figure 6 This is a schematic diagram of a third reference image in Embodiment 1 of the present invention;

[0031] Figure 7 This is a schematic diagram of a PCB soft pin alignment device according to Embodiment 2 of the present invention;

[0032] Figure 8 This is a schematic diagram of the structure of an electronic device according to Embodiment 3 of the present invention. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0036] Example 1

[0037] Figure 1 This is a flowchart of a PCB soft pin alignment method according to Embodiment 1 of the present invention. This embodiment is applicable to the alignment of the soft pin and the base shell. The method can be executed by the PCB soft pin alignment device in this embodiment, which can be implemented in software and / or hardware. The PCB soft pin alignment method is applied to a PCB soft pin alignment system, which includes: a target base shell, a target soft pin, a first camera located below the target soft pin, and a second camera located to the side of the target soft pin.

[0038] The target soft needle and the target base shell are assembled soft needle and base shell used to determine the reference information of the soft needle and the base shell. The first camera is located directly below the target soft needle, and the second camera is located to the side of the target soft needle, which can be understood as the front of the target soft needle. It can capture the overall shape of the target soft needle. The target soft needle includes a transverse thin plate and a longitudinal thin plate. There is a groove on the transverse thin plate, and there are rounded corners at both ends of the groove. Figure 2 This is a schematic diagram of a target base shell and a target soft needle according to Embodiment 1 of the present invention, as shown below. Figure 2 As shown, the blue part is the target soft needle, the area between BC is the groove of the transverse thin plate of the soft needle, the two ends of the groove are rounded corners, the white circular area is the target bottom shell, the target soft needle is assembled in the target bottom shell, and the groove of the target soft needle is exactly stuck in the groove of the target bottom shell. Figure 3 This is a schematic diagram of a first camera and a second camera according to Embodiment 1 of the present invention, as shown below. Figure 3 As shown, Figure 3 The left side shows a schematic diagram of the first camera. Figure 3 The diagram on the right shows the second camera. To ensure clearer images, a light source can be added near the camera. The first camera is positioned directly below the target soft needle, and the second camera is positioned to the side of the target soft needle.

[0039] PCB soft pin alignment method, such as Figure 1 As shown, the method specifically includes the following steps:

[0040] S110, acquire the first reference image captured by the first camera and the second reference image captured by the second camera when the target soft needle is removed from the target bottom shell and moved to the first processing position, wherein the reference alignment angle of the target soft needle remains unchanged during the process of removing the target soft needle from the target bottom shell and moving it to the first processing position.

[0041] The target soft needle and target base shell are used to determine the reference information of the soft needle and base shell, with the initial state being that the target soft needle is already assembled in the target base shell. The first processing position is the position for acquiring the image of the target soft needle. The first reference image is the image of the target soft needle acquired by the first camera at the first processing position, and the second reference image is the image of the target soft needle acquired by the second camera at the first processing position. The reference alignment angle of the target soft needle is the alignment angle at which the target soft needle and target base shell are registered after assembly.

[0042] Specifically, the method for acquiring the first reference image captured by the first camera and the second reference image captured by the second camera when the target soft needle is removed from the target base shell and moved to the first processing position can be as follows: First, the assembled target base shell is placed in a fixed position on the assembly platform, and the target soft needle is assembled in the target base shell. When acquiring the reference information of the target soft needle, the assembled target soft needle is first removed from the target base shell and then moved to the first processing position. When the target soft needle is in the first processing position, the first camera is directly below the target soft needle, and the second camera is to the side of the target soft needle. The first camera captures the first reference image of the target soft needle, and simultaneously, the second camera captures the second reference image of the target soft needle. It should be noted that during the process of removing the target soft needle from the target base shell and moving it to the first processing position, the reference alignment angle of the target soft needle remains unchanged, which ensures the accuracy of the reference information of the target soft needle.

[0043] Optionally, the PCB soft-pin alignment system further includes: a robotic arm;

[0044] Accordingly, acquiring the first reference image captured by the first camera and the second reference image captured by the second camera when the target soft needle is removed from the target bottom shell and moved to the first processing position includes:

[0045] Control the robotic arm to grip the target soft needle, remove the target soft needle from the target bottom shell, and move it vertically upwards;

[0046] After the robotic arm grasps the target soft needle and moves it vertically upward to the second processing position, it moves it horizontally back to the first processing position.

[0047] When the target soft needle is in the first processing position, acquire the first reference image captured by the first camera and the second reference image captured by the second camera.

[0048] The second processing position is the processing position where the target soft needle is completely detached from the target bottom shell, perpendicular to the target bottom shell, and the distance between the target bottom shell and the target bottom shell is a first preset distance. The second processing position is parallel to the first processing position, and the distance between the first processing position and the second processing position is a second preset distance.

[0049] Specifically, the method of controlling the robotic arm to grasp the target soft needle, remove the target soft needle from the target bottom shell, and move it vertically upward can be as follows: the robotic arm has grippers, the robotic arm uses the grippers to grasp the target soft needle, pulls the target soft needle out of the target bottom shell, and moves it vertically upward.

[0050] Specifically, the method of controlling the robotic arm to grasp the target soft needle and move it vertically upward to the second processing position, and then move it horizontally to the first processing position can be as follows: when the robotic arm is grasping the target soft needle and moving upward, it moves to the second processing position. At the second processing position, the target soft needle has completely detached from the target bottom shell. Then, the robotic arm is controlled to grasp the target soft needle and move it horizontally to the first processing position.

[0051] Specifically, when the target soft needle is in the first processing position, the method for acquiring the first reference image captured by the first camera and the second reference image captured by the second camera can be as follows: when the robotic arm is controlled to grasp the target soft needle and move it to the first processing position, the first camera is controlled to acquire the first reference image while the second camera is controlled to acquire the second reference image.

[0052] By controlling the robotic arm to grip the target soft needle, the target soft needle is removed from the target base shell and moved vertically upward; after the robotic arm grips the target soft needle and moves it vertically upward to the second processing position, it moves it horizontally to the first processing position; when the target soft needle is in the first processing position, the first reference image captured by the first camera and the second reference image captured by the second camera are obtained. Based on the robotic arm's ability to smoothly grip the target soft needle, the target soft needle remains unchanged during the process of removing the target base shell and moving to the first processing position, ensuring that the reference alignment angle of the target soft needle remains unchanged.

[0053] S120, perform image processing on the first reference image to obtain the lateral coordinates corresponding to the lateral thin slice of the target soft needle in the first reference image.

[0054] The transverse thin slice of the target soft needle contains a grooved portion, such as... Figure 2 The area indicated by BC on the left side. The lateral coordinates corresponding to the transverse thin slice can be understood as the X-direction coordinates of the edge of the groove portion in the transverse thin slice of the target soft needle.

[0055] Specifically, the method for processing the first reference image to obtain the lateral coordinates corresponding to the lateral slice of the target soft needle in the first reference image can be as follows: Process the first reference image to obtain the average value of preset edge points in the X direction on the first target line segment corresponding to the groove portion in the lateral slice of the target soft needle in the first reference image. It should be noted that the target soft needle itself is very thin, and the groove portions at both ends and in the middle have rounded corners, resulting in relatively blurry edge imaging. The difference in intensity variation among the neighborhoods of each edge point is small, leading to a large fluctuation in the captured edge points. This results in a significant discrepancy between the fitted line segment trend and the actual trend, making it unrepresentative of the soft needle's edge trend. Only the middle groove portion has clear edges, with smaller fluctuations in the captured edge points, resulting in the best fitted line segment trend. Therefore, the line segment with the highest contrast and smallest edge fluctuation among the preset edge points in the lateral slice of the target soft needle is determined as the first target line segment.

[0056] For example, it could be, Figure 4 This is a schematic diagram of a first reference image in Embodiment 1 of the present invention, as shown below. Figure 4 As shown, Figure 4 The first reference image is defined as follows: the green line segment in the image represents the first target line segment corresponding to the groove portion in the transverse sheet of the target soft needle; the red dots represent preset edge points; and the average value of the preset edge points is determined as the transverse coordinate corresponding to the transverse sheet of the target soft needle in the first reference image.

[0057] S130, perform image processing on the second reference image to obtain the longitudinal coordinates and longitudinal angles corresponding to the longitudinal slices of the target soft needle in the second reference image.

[0058] In this design, the transverse and longitudinal thin slices of the target soft needle are perpendicular. The longitudinal coordinates corresponding to the transverse thin slices can be understood as the Y-axis coordinates of the edge of the transverse thin slice of the target soft needle. The longitudinal angle corresponding to the longitudinal thin slices is the angle between the longitudinal thin slices and the horizontal direction.

[0059] Specifically, the method for processing the second reference image to obtain the longitudinal coordinates and longitudinal angles corresponding to the longitudinal slice of the target soft needle in the second reference image can be as follows: Process the second reference image to obtain the second target line segment corresponding to the longitudinal slice of the target soft needle in the second reference image; obtain the average value of preset edge points in the Y direction on the second target line segment; and determine the longitudinal coordinates corresponding to the longitudinal slice by the average value of preset edge points in the Y direction. During image processing, the coordinates of the two endpoints of the second target line segment can be obtained. The direction vector of the second target line segment is calculated based on the coordinates of the two endpoints. The longitudinal angle corresponding to the longitudinal slice is determined by calculating the angle between the direction vector of the second target line segment and the horizontal direction. It should be noted that in the first reference image acquired by the first camera, the edge point coordinates of the groove in the transverse slice are almost equal in the Y direction. However, to determine the reference alignment coordinates and positional changes of the target soft needle, both X and Y directions are required to accurately locate the reference alignment coordinates of the target soft needle. Therefore, the longitudinal coordinates in the Y direction can only be provided by the second camera. The longitudinal slice has a large area, but in order to ensure that the longitudinal coordinates and longitudinal angles are obtained stably and accurately, the line segment with the highest contrast and the smallest edge fluctuation in the longitudinal slice of the target soft needle, or the line segment with the clearest and smoothest edge, is determined as the second target line segment.

[0060] For example, it could be, Figure 5 This is a schematic diagram of a second reference image in Embodiment 1 of the present invention, as shown below. Figure 5 As shown, Figure 5 The second reference image is defined as follows: the green line segment in the image is the second target line segment in the longitudinal slice of the target soft needle, and the red dots are preset edge points. The average value of the preset edge points is determined as the longitudinal coordinate of the longitudinal slice of the target soft needle in the second reference image. The angle between the direction vectors corresponding to the two endpoints of the second target line segment and the horizontal direction is calculated and determined as the longitudinal angle of the longitudinal slice.

[0061] S140, determine the reference alignment point coordinates of the target soft needle based on the transverse coordinates corresponding to the transverse thin slice and the longitudinal coordinates corresponding to the longitudinal thin slice, and determine the longitudinal angle corresponding to the longitudinal thin slice as the reference alignment angle of the target soft needle.

[0062] Among them, the reference alignment point coordinates of the target soft needle are the alignment point coordinates of the target soft needle used to register the target bottom shell.

[0063] Specifically, the reference alignment point coordinates of the target soft needle are determined based on the lateral coordinates corresponding to the lateral slice and the longitudinal coordinates corresponding to the longitudinal slice. The longitudinal angle corresponding to the longitudinal slice is then used as the reference alignment angle of the target soft needle. The lateral coordinates corresponding to the lateral slice are X0, and the longitudinal coordinates corresponding to the longitudinal slice are Y0. A new virtual coordinate system is formed by combining the obtained lateral coordinates corresponding to the lateral slice and the longitudinal coordinates corresponding to the longitudinal slice. That is, the reference alignment point coordinates of the target soft needle are R(X0,Y0), and the longitudinal angle corresponding to the longitudinal slice is R_Angle0. Therefore, the reference alignment angle of the target soft needle is R_Angle0, so that all subsequent changes in the position of the target soft needle can utilize the relative position changes within the new virtual coordinate system.

[0064] Optionally, the PCB soft-pin alignment system further includes a third camera positioned above the target bottom shell;

[0065] Correspondingly, it also includes:

[0066] Acquire a third reference image of the target bottom shell captured by the third camera when the target soft needle is removed from the target bottom shell and moved to the first processing position;

[0067] Image processing is performed on the third reference image to obtain the coordinates of the first target point and the second target point corresponding to the groove in the bottom shell of the target;

[0068] The reference alignment point coordinates and reference alignment angle of the target bottom shell are determined based on the coordinates of the first target point and the second target point.

[0069] The third camera is used to acquire images of the target base shell without the target soft needle attached. The third reference image is the image of the target base shell acquired by the third camera after the target soft needle has been removed from the target base shell. It should be noted that the target base shell contains a groove containing two circles, an upper circle and a lower circle. The first target point is the center of the upper circle, and the second target point is the center of the lower circle. The reference alignment point coordinates of the target base shell are the alignment point coordinates for registration with the target soft needle, and the reference alignment angle of the target base shell is the alignment angle when the target base shell and the target soft needle are fully assembled.

[0070] Specifically, the method for obtaining the third reference image of the target bottom shell captured by the third camera when the target soft needle is removed from the target bottom shell and moved to the first processing position can be as follows: When the target soft needle is removed from the target bottom shell and moved to the first processing position, the target soft needle has been completely removed from the target soft needle. At this time, only the target bottom shell is fixed in the fixed position on the assembly platform. The third camera is located directly above the target bottom shell, and the third reference image of the target bottom shell is captured by the third camera.

[0071] Specifically, the method for processing the third reference image to obtain the coordinates of the first target point and the second target point corresponding to the groove in the target bottom shell can be as follows: process the third reference image and measure the coordinates of the upper and lower centers of the groove in the target bottom shell, which are the coordinates of the first target point and the second target point.

[0072] Specifically, the method for determining the reference alignment point coordinates and reference alignment angle of the target bottom shell based on the coordinates of the first target point and the second target point can be as follows: the coordinates of the center point between the coordinates of the first target point and the second target point are determined as the reference alignment point coordinates of the target bottom shell, and the angle between the line segment formed by the first target point and the second target point and the horizontal direction is determined as the reference alignment angle of the target bottom shell.

[0073] For example, it could be, Figure 6 This is a schematic diagram of a third reference image in Embodiment 1 of the present invention, as shown below. Figure 6 As shown, the two red circles represent the circles contained within the grooves of the target's bottom shell. Point C1 is the center of the upper circle, i.e., the first target point; point C2 is the center of the lower circle, i.e., the second target point; L1 is the line segment formed by the first and second target points; and point P is the center point between the first and second target points. Wherein, C1(C x1 C y1 C2(C) x2 C y2 The center point P between points C1 and C2 (P x0 ,P y0 ) represents the reference alignment point coordinates of the target bottom shell, and the angle between line segment C1 C2 and the horizontal direction is the reference alignment angle P_Angle0 of the target bottom shell.

[0074] By processing the third reference image acquired by the third camera, the coordinates of the first target point and the second target point are obtained, thereby determining the reference information of the target bottom shell. The reference information of the target bottom shell includes the coordinates of the reference alignment point and the reference alignment angle of the target bottom shell, which can obtain more accurate reference information of the target bottom shell.

[0075] Optionally, the PCB soft pin alignment system further includes: a base shell to be installed and soft pins to be installed;

[0076] Correspondingly, it also includes:

[0077] Acquire an image of the bottom shell to be installed, and determine the target rotation angle and target alignment point coordinates of the bottom shell to be installed based on the image of the bottom shell to be installed and the reference alignment angle of the target bottom shell.

[0078] When the soft needle to be installed is in the first processing position, the first image to be installed is captured by the second camera;

[0079] The coordinates of the target alignment point of the soft needle to be installed are determined based on the reference alignment angle between the first image to be installed and the target soft needle.

[0080] The alignment deviation between the soft needle to be installed and the bottom shell to be installed is determined based on the reference alignment point coordinates of the target soft needle, the target alignment point coordinates of the soft needle to be installed, the reference alignment point coordinates of the target bottom shell, and the target alignment point coordinates of the bottom shell to be installed.

[0081] The soft needle to be installed is aligned and adjusted according to the target rotation angle and the alignment deviation so that the soft needle to be installed is inserted into the bottom shell to be installed.

[0082] The soft needle to be installed is the soft needle prepared for assembly into the base shell to be installed. The base shell to be installed is a base shell fixed in a fixed position on the assembly platform, awaiting assembly of the soft needle. The target rotation angle of the base shell to be installed is the angle by which the soft needle to be installed needs to rotate during alignment. The target alignment point coordinates of the base shell to be installed are the alignment point coordinates of the base shell to be installed when it is fixed in a fixed position on the assembly platform. The first image to be installed is the image captured by the second camera when the soft needle to be installed is in the first processing position. The target alignment point coordinates of the soft needle to be installed are the alignment point coordinates of the soft needle to be installed. Under the condition that assembly is possible, the target alignment point coordinates of the soft needle to be installed should be consistent with the reference alignment point coordinates of the target soft needle. However, the alignment point information of the soft needle to be installed will not be completely consistent with that of the target soft needle. At this time, the purpose of obtaining the target alignment point coordinates of the soft needle to be installed is to calculate the alignment deviation with the reference alignment point coordinates of the target soft needle. The alignment deviation between the soft needle to be installed and the base shell to be installed is the deviation between the soft needle to be installed and the base shell to be installed, which is based on the reference alignment coordinates of the target soft needle and the reference alignment coordinates of the target base shell. The alignment deviation includes the alignment deviation in the X and Y directions.

[0083] Specifically, the method for acquiring an image of the base shell to be installed and determining the target rotation angle and target alignment point coordinates of the base shell to be installed based on the image of the base shell to be installed and the reference alignment angle of the target base shell can be as follows: control the robot arm to re-grip a base shell to be installed, place it in a fixed position on the assembly platform, then the third camera takes a picture of the base shell to be installed, acquiring an image of the base shell to be installed. The image of the base shell to be installed is processed to obtain the current alignment point coordinates and the current angle of the base shell to be installed. Then, based on the current angle of the base shell to be installed and the reference alignment angle of the target base shell, the target rotation angle of the base shell to be installed is calculated. Finally, the target alignment point coordinates of the base shell to be installed are obtained by rotating the current alignment point by the target rotation angle according to the preset rotation center.

[0084] Specifically, when the soft needle to be installed is in the first processing position, the method of acquiring the first image to be installed by the second camera can be as follows: control the robot arm to pick up the soft needle to be installed from the soft needle tray and move it to the first processing position, and take a picture of the soft needle to be installed by the second camera to acquire the first image to be installed.

[0085] Specifically, the method for determining the target alignment point coordinates of the soft needle to be installed based on the first image to be installed and the reference alignment angle of the target soft needle can be as follows: perform image processing on the first image to be installed to obtain the initial longitudinal angle corresponding to the longitudinal slice in the first image to be installed; obtain the compensation angle of the soft needle to be installed based on the initial longitudinal angle and the reference alignment angle of the target soft needle; then rotate and correct the soft needle to be installed according to the compensation angle; after rotation and correction, control the first camera and the second camera to take pictures of the soft needle to be installed again; perform image processing on the images of the soft needle to be installed corresponding to the first camera and the second camera to obtain the target alignment point coordinates of the soft needle to be installed.

[0086] Specifically, the alignment deviation between the soft needle to be installed and the base shell to be installed can be determined based on the reference alignment point coordinates of the target soft needle, the target alignment point coordinates of the soft needle to be installed, the reference alignment point coordinates of the target base shell, and the target alignment point coordinates of the base shell to be installed. This can be achieved by: calculating the difference between the X-coordinate in the reference alignment point coordinates of the target soft needle and the X-coordinate in the target alignment point coordinates of the soft needle to be installed; also calculating the difference between the X-coordinate in the reference alignment point coordinates of the target base shell and the X-coordinate in the target alignment point coordinates of the base shell to be installed; and determining the alignment deviation in the X direction based on the difference between the two X-coordinates. Similarly, the alignment deviation in the Y-coordinate can be determined by calculating the difference between the Y-coordinate in the reference alignment point coordinates of the target soft needle and the Y-coordinate in the target alignment point coordinates of the soft needle to be installed; also calculating the difference between the Y-coordinate in the reference alignment point coordinates of the target base shell and the target alignment point coordinates of the base shell to be installed; and determining the alignment deviation in the Y direction based on the difference between the two Y-coordinates. For example, if the reference alignment point coordinates of the target soft needle are R(X0,Y0), and the reference alignment point coordinates of the target base shell are P(P... x0 ,P y0 The target alignment point coordinates for the soft needle to be installed are R′(X0′,Y0′), and the target alignment point coordinates for the bottom shell to be installed are P′(P x0 ′,P y0 The alignment deviation in the X direction is ΔX = X0 - X0′ + P. x0 -P x0 The alignment deviation in the Y direction is ΔY = Y0 - Y0′ + P. y0 -P y0 ′.

[0087] Specifically, the alignment adjustment of the soft needle to be installed based on the target rotation angle and the alignment deviation, so that the soft needle is inserted into the mounting shell, can be achieved as follows: The robotic arm picks up the soft needle and moves it above the mounting shell (e.g., to the second processing position). Then, it rotates the needle according to the target rotation angle. For example, if the target rotation angle is positive, it rotates clockwise; if the target rotation angle is negative, it rotates counterclockwise. After rotation, the robotic arm picks up the soft needle and performs alignment compensation in the X and Y directions according to the alignment deviation. After alignment compensation, the robotic arm descends vertically to assemble the soft needle into the mounting shell. It should be noted that the alignment compensation method can be: if ΔX is positive, the robotic arm moves ΔX to the right in the X direction; if ΔX is negative, the robotic arm moves ΔX to the left in the X direction. Similarly, for ΔY, if ΔY is positive, the robotic arm moves forward in the Y direction; otherwise, it moves backward.

[0088] By acquiring an image of the base shell to be installed, and determining the target rotation angle and target alignment point coordinates of the base shell to be installed based on the image of the base shell to be installed and the reference alignment angle of the target base shell; when the soft needle to be installed is in the first processing position, a first image to be installed is acquired through a second camera; the target alignment point coordinates of the soft needle to be installed are determined based on the first image to be installed and the reference alignment angle of the target soft needle; the alignment deviation between the soft needle to be installed and the base shell to be installed is determined based on the reference alignment point coordinates of the target soft needle, the target alignment point coordinates of the soft needle to be installed, the reference alignment point coordinates of the target base shell, and the target alignment point coordinates of the base shell to be installed; the soft needle to be installed is aligned based on the target rotation angle and the alignment deviation, so that the soft needle to be installed can be inserted into the base shell to be installed, which can quickly align the base shell to be installed and the soft needle to be installed, improving the assembly efficiency and accuracy of the soft needle and the base shell.

[0089] Optionally, determining the target rotation angle and target alignment point coordinates of the base shell to be installed based on the image of the base shell to be installed and the reference alignment angle of the target base shell includes:

[0090] Image processing is performed on the image of the bottom shell to be installed to obtain the current alignment point coordinates and the current angle of the bottom shell to be installed;

[0091] The target rotation angle of the bottom shell to be installed is determined based on the current angle of the bottom shell to be installed and the reference alignment angle of the target bottom shell.

[0092] The target alignment point coordinates of the bottom shell to be installed are determined based on the target rotation angle and the current alignment point coordinates of the bottom shell to be installed.

[0093] Specifically, the method for processing the image of the bottom shell to be installed to obtain the current alignment point coordinates and the current angle of the bottom shell to be installed can be as follows: Process the image of the bottom shell to be installed to obtain the coordinates of the first target point and the second target point corresponding to the groove in the bottom shell to be installed; determine the center point between the first target point and the second target point as the current alignment point of the bottom shell to be installed; construct a line segment based on the first target point and the second target point; and determine the angle between the constructed line segment and the horizontal direction as the current angle of the bottom shell to be installed.

[0094] Specifically, the target rotation angle of the base shell to be installed can be determined by comparing the current angle of the base shell to be installed with the reference alignment angle of the target base shell. For example, if the current angle of the base shell to be installed is P_Angle1, and the reference alignment angle of the target base shell is P_Angle0, then the target rotation angle ΔP_Angle = P_Angle0 - P_Angle1.

[0095] Specifically, the method for determining the target alignment point coordinates of the bottom shell to be installed based on the target rotation angle and the current alignment point coordinates of the bottom shell to be installed can be as follows: obtain the rotation center of the robot arm, or the rotation center of other tools for gripping the bottom shell to be installed, calculate the new alignment point coordinates of the bottom shell to be installed after rotating the current alignment point coordinates of the bottom shell to be installed by the target rotation angle according to the rotation center, and determine the new alignment point coordinates after rotation as the target alignment point coordinates of the bottom shell to be installed.

[0096] By processing the image of the base shell to be installed, the current alignment point coordinates and current angle of the base shell to be installed are obtained; the target rotation angle of the base shell to be installed is determined based on the current angle of the base shell to be installed and the reference alignment angle of the target base shell; the target alignment point coordinates of the base shell to be installed are determined based on the target rotation angle and the current alignment point coordinates of the base shell to be installed. This improves the efficiency of obtaining the target rotation angle and target alignment point coordinates of the base shell to be installed, thereby improving the efficiency of assembling the soft needle into the base shell.

[0097] Optionally, the target alignment point coordinates of the soft needle to be installed are determined based on the reference alignment angle between the first image to be installed and the target soft needle, including:

[0098] Image processing is performed on the first image to be installed to obtain the initial longitudinal angle corresponding to the longitudinal thin sheet of the soft needle to be installed in the first image to be installed.

[0099] The compensation angle of the soft needle to be installed is determined based on the initial longitudinal angle corresponding to the longitudinal sheet and the reference alignment angle of the target soft needle.

[0100] After the soft needle to be installed is rotated according to the compensation angle of the soft needle to be installed, the second image to be installed captured by the first camera and the third image to be installed captured by the second camera are obtained.

[0101] The target alignment point coordinates of the soft needle to be installed are determined based on the second and third images to be installed.

[0102] Specifically, the method of processing the first image to be installed to obtain the initial longitudinal angle corresponding to the longitudinal slice of the soft needle to be installed in the first image to be installed is similar to the method of processing the second reference image to obtain the longitudinal angle corresponding to the longitudinal slice of the target soft needle in the second reference image, and will not be elaborated here.

[0103] Specifically, the compensation angle of the soft needle to be installed can be determined by the initial longitudinal angle corresponding to the longitudinal sheet and the reference alignment angle of the target soft needle as follows: the difference between the reference alignment angle of the target soft needle and the initial longitudinal angle corresponding to the longitudinal sheet is determined as the compensation angle of the soft needle to be installed.

[0104] Specifically, after the soft needle to be installed is rotated according to the compensation angle of the soft needle to be installed, the method for acquiring the second image to be installed captured by the first camera and the third image to be installed captured by the second camera can be as follows: control the robotic arm to grip the soft needle to be installed and rotate it according to the compensation angle of the soft needle to be installed. It should be noted that the longitudinal angle after rotation correction should be consistent with the reference alignment angle of the target soft needle. At this time, control the first camera and the second camera to take pictures of the soft needle to be installed again, and acquire the second image to be installed captured by the first camera and the third image to be installed captured by the second camera.

[0105] Specifically, the method for determining the target alignment point coordinates of the soft needle to be installed based on the second and third images to be installed can be as follows: perform image processing on the second image to be installed to obtain the horizontal coordinates corresponding to the horizontal slice of the soft needle to be installed in the second image to be installed; perform image processing on the third image to be installed to obtain the vertical coordinates corresponding to the vertical slice of the soft needle to be installed in the third image to be installed; and determine the target alignment point coordinates of the soft needle to be installed based on the horizontal coordinates corresponding to the horizontal slice of the soft needle to be installed and the vertical coordinates corresponding to the vertical slice of the soft needle to be installed.

[0106] By processing the first image to be installed, the initial longitudinal angle corresponding to the longitudinal slice of the soft needle to be installed in the first image to be installed is obtained; the compensation angle of the soft needle to be installed is determined according to the initial longitudinal angle corresponding to the longitudinal slice and the reference alignment angle of the target soft needle; after the soft needle to be installed is rotated according to the compensation angle of the soft needle to be installed, the second image to be installed captured by the first camera and the third image to be installed captured by the second camera are obtained; the target alignment point coordinates of the soft needle to be installed are determined according to the second image to be installed and the third image to be installed, which can improve the efficiency and accuracy of determining the target alignment point coordinates of the soft needle to be installed.

[0107] The technical solution of this embodiment involves acquiring a first reference image captured by a first camera and a second reference image captured by a second camera when the target soft needle is removed from the target shell and moved to a first processing position. During the process of removing the target soft needle from the target shell and moving it to the first processing position, the reference alignment angle of the target soft needle remains unchanged. Image processing is performed on the first reference image to obtain the lateral coordinates corresponding to the lateral slice of the target soft needle in the first reference image. Image processing is performed on the second reference image to obtain the longitudinal coordinates and longitudinal angle corresponding to the longitudinal slice of the target soft needle in the second reference image. The reference alignment of the target soft needle is determined based on the lateral coordinates corresponding to the lateral slice and the longitudinal coordinates corresponding to the longitudinal slice. The system uses point coordinates and determines the longitudinal angle corresponding to the longitudinal sheet as the reference alignment angle of the target soft needle. This solves the problem that the soft needle cannot be accurately aligned with the bottom shell due to the difficulty in accurately obtaining the reference information of the soft needle, which affects the production and efficiency of soft needle assembly with the bottom shell. It can simultaneously acquire images of the target soft needle by the first camera and the second camera at the same processing position. The horizontal coordinates of the target soft needle are determined according to the first reference image, and the longitudinal coordinates and longitudinal angle of the target soft needle are determined according to the second reference image. A new virtual coordinate system is constructed based on the horizontal and vertical coordinates to obtain the reference alignment point coordinates and reference alignment angle of the target soft needle. This provides accurate reference information for the soft needle, thereby enabling precise alignment of the soft needle with the bottom shell and improving the efficiency of soft needle assembly with the bottom shell.

[0108] Example 2

[0109] Figure 7 This is a schematic diagram of a PCB soft pin alignment device according to Embodiment 2 of the present invention. This embodiment is applicable to the alignment of soft pins with the base shell. The device can be implemented using software and / or hardware, and can be integrated into any device that provides PCB soft pin alignment functionality, such as... Figure 7As shown, the PCB soft needle alignment device is configured in the PCB soft needle alignment system. The PCB soft needle alignment system includes: a target base shell, a target soft needle, a first camera located below the target soft needle, and a second camera located to the side of the target soft needle. The PCB soft needle alignment device specifically includes: a target soft needle acquisition module 210, a horizontal coordinate acquisition module 220, a vertical coordinate acquisition module 230, and a soft needle reference determination module 240.

[0110] The target soft needle acquisition module 210 is used to acquire a first reference image captured by a first camera and a second reference image captured by a second camera when the target soft needle is removed from the target bottom shell and moved to the first processing position. The reference alignment angle of the target soft needle remains unchanged during the process of removing the target soft needle from the target bottom shell and moving it to the first processing position.

[0111] The lateral coordinate acquisition module 220 is used to perform image processing on the first reference image to obtain the lateral coordinates corresponding to the lateral thin slice of the target soft needle in the first reference image;

[0112] The longitudinal coordinate acquisition module 230 is used to perform image processing on the second reference image to obtain the longitudinal coordinates and longitudinal angles corresponding to the longitudinal slices of the target soft needle in the second reference image.

[0113] The soft needle reference determination module 240 is used to determine the reference alignment point coordinates of the target soft needle according to the transverse coordinates corresponding to the transverse thin slice of the target soft needle and the longitudinal coordinates corresponding to the longitudinal thin slice, and to determine the longitudinal angle corresponding to the longitudinal thin slice as the reference alignment angle of the target soft needle.

[0114] Optionally, the PCB soft-pin alignment system further includes a third camera positioned above the target bottom shell;

[0115] Correspondingly, it also includes:

[0116] The reference image acquisition module is used to acquire a third reference image of the target bottom shell captured by the third camera when the target soft needle is removed from the target bottom shell and moved to the first processing position;

[0117] The target coordinate acquisition module is used to perform image processing on the third reference image to obtain the coordinates of the first target point and the second target point corresponding to the groove in the bottom shell of the target.

[0118] The bottom shell reference determination module is used to determine the reference alignment point coordinates and the reference alignment angle of the target bottom shell based on the coordinates of the first target point and the second target point.

[0119] Optionally, the PCB soft pin alignment system further includes: a base shell to be installed and soft pins to be installed;

[0120] Correspondingly, it also includes:

[0121] The bottom shell coordinate determination module is used to acquire an image of the bottom shell to be installed, and determine the target rotation angle and target alignment point coordinates of the bottom shell to be installed based on the image of the bottom shell to be installed and the reference alignment angle of the target bottom shell.

[0122] An image acquisition module is installed to capture a first image of the soft needle to be installed using a second camera when the soft needle to be installed is in the first processing position.

[0123] The soft needle alignment determination module is used to determine the target alignment point coordinates of the soft needle to be installed based on the first image to be installed and the reference alignment angle of the target soft needle.

[0124] The alignment deviation determination module is used to determine the alignment deviation between the soft needle to be installed and the bottom shell to be installed based on the reference alignment point coordinates of the target soft needle, the target alignment point coordinates of the soft needle to be installed, the reference alignment point coordinates of the target bottom shell, and the target alignment point coordinates of the bottom shell to be installed.

[0125] The alignment deviation adjustment module is used to adjust the alignment of the soft needle to be installed according to the target rotation angle and the alignment deviation, so that the soft needle to be installed can be inserted into the bottom shell to be installed.

[0126] Optionally, the bottom shell coordinate determination module is specifically used for:

[0127] Image processing is performed on the image of the bottom shell to be installed to obtain the current alignment point coordinates and the current angle of the bottom shell to be installed;

[0128] The target rotation angle of the bottom shell to be installed is determined based on the current angle of the bottom shell to be installed and the reference alignment angle of the target bottom shell.

[0129] The target alignment point coordinates of the bottom shell to be installed are determined based on the target rotation angle and the current alignment point coordinates of the bottom shell to be installed.

[0130] Optionally, the soft pin positioning module is specifically used for:

[0131] Image processing is performed on the first image to be installed to obtain the initial longitudinal angle corresponding to the longitudinal thin sheet of the soft needle to be installed in the first image to be installed.

[0132] The compensation angle of the soft needle to be installed is determined based on the initial longitudinal angle corresponding to the longitudinal sheet and the reference alignment angle of the target soft needle.

[0133] After the soft needle to be installed is rotated according to the compensation angle of the soft needle to be installed, the second image to be installed captured by the first camera and the third image to be installed captured by the second camera are obtained.

[0134] The target alignment point coordinates of the soft needle to be installed are determined based on the second and third images to be installed.

[0135] Optionally, the PCB soft-pin alignment system further includes: a robotic arm;

[0136] Accordingly, the target soft needle acquisition module is specifically used for:

[0137] Control the robotic arm to grip the target soft needle, remove the target soft needle from the target bottom shell, and move it vertically upwards;

[0138] After the robotic arm grasps the target soft needle and moves it vertically upward to the second processing position, it moves it horizontally back to the first processing position.

[0139] When the target soft needle is in the first processing position, acquire the first reference image captured by the first camera and the second reference image captured by the second camera.

[0140] The above-described products can perform the methods provided in any embodiment of the present invention, and have the corresponding functional modules and beneficial effects for performing the methods.

[0141] Example 3

[0142] Figure 8 This is a schematic diagram of an electronic device according to Embodiment 3 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0143] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0144] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0145] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as PCB soft-pinning methods.

[0146] In some embodiments, the PCB soft-pinning method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the PCB soft-pinning method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the PCB soft-pinning method by any other suitable means (e.g., by means of firmware).

[0147] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0148] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0149] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0150] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0151] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0152] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0153] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0154] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the PCB soft pinning method according to any embodiment of the invention.

[0155] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A PCB soft pin alignment method, characterized in that, An application is made to a PCB soft pin alignment system, the PCB soft pin alignment system comprising: a target base shell, a target soft pin, a first camera located below the target soft pin, and a second camera located to the side of the target soft pin, the PCB soft pin alignment method comprising: The first reference image captured by the first camera and the second reference image captured by the second camera are obtained when the target soft needle is removed from the target bottom shell and moved to the first processing position. The reference alignment angle of the target soft needle remains unchanged during the process of removing the target soft needle from the target bottom shell and moving it to the first processing position. Image processing is performed on the first reference image to obtain the lateral coordinates corresponding to the lateral thin slice of the target soft needle in the first reference image; Image processing is performed on the second reference image to obtain the longitudinal coordinates and longitudinal angles corresponding to the longitudinal slices of the target soft needle in the second reference image. The reference alignment point coordinates of the target soft needle are determined based on the lateral coordinates corresponding to the lateral thin slice of the target soft needle and the longitudinal coordinates corresponding to the longitudinal thin slice, and the longitudinal angle corresponding to the longitudinal thin slice is determined as the reference alignment angle of the target soft needle.

2. The method according to claim 1, characterized in that, The PCB soft alignment system also includes a third camera located above the target bottom shell; Correspondingly, it also includes: Acquire a third reference image of the target bottom shell captured by the third camera when the target soft needle is removed from the target bottom shell and moved to the first processing position; Image processing is performed on the third reference image to obtain the coordinates of the first target point and the second target point corresponding to the groove in the bottom shell of the target; The reference alignment point coordinates and reference alignment angle of the target bottom shell are determined based on the coordinates of the first target point and the second target point.

3. The method according to claim 2, characterized in that, The PCB soft pin alignment system also includes: a bottom shell to be installed and soft pins to be installed; Correspondingly, it also includes: Acquire an image of the bottom shell to be installed, and determine the target rotation angle and target alignment point coordinates of the bottom shell to be installed based on the image of the bottom shell to be installed and the reference alignment angle of the target bottom shell. When the soft needle to be installed is in the first processing position, the first image to be installed is captured by the second camera; The coordinates of the target alignment point of the soft needle to be installed are determined based on the reference alignment angle between the first image to be installed and the target soft needle. The alignment deviation between the soft needle to be installed and the bottom shell to be installed is determined based on the reference alignment point coordinates of the target soft needle, the target alignment point coordinates of the soft needle to be installed, the reference alignment point coordinates of the target bottom shell, and the target alignment point coordinates of the bottom shell to be installed. The soft needle to be installed is aligned and adjusted according to the target rotation angle and the alignment deviation so that the soft needle to be installed is inserted into the bottom shell to be installed.

4. The method according to claim 3, characterized in that, Determine the target rotation angle and target alignment point coordinates of the base shell to be installed based on the image of the base shell to be installed and the reference alignment angle of the target base shell, including: Image processing is performed on the image of the bottom shell to be installed to obtain the current alignment point coordinates and the current angle of the bottom shell to be installed; The target rotation angle of the bottom shell to be installed is determined based on the current angle of the bottom shell to be installed and the reference alignment angle of the target bottom shell. The target alignment point coordinates of the bottom shell to be installed are determined based on the target rotation angle and the current alignment point coordinates of the bottom shell to be installed.

5. The method according to claim 3, characterized in that, The target alignment point coordinates of the soft needle to be installed are determined based on the reference alignment angle between the first image to be installed and the target soft needle, including: Image processing is performed on the first image to be installed to obtain the initial longitudinal angle corresponding to the longitudinal thin sheet of the soft needle to be installed in the first image to be installed. The compensation angle of the soft needle to be installed is determined based on the initial longitudinal angle corresponding to the longitudinal sheet and the reference alignment angle of the target soft needle. After the soft needle to be installed is rotated according to the compensation angle of the soft needle to be installed, the second image to be installed captured by the first camera and the third image to be installed captured by the second camera are obtained. The target alignment point coordinates of the soft needle to be installed are determined based on the second and third images to be installed.

6. The method according to claim 1, characterized in that, The PCB soft alignment system also includes: a robotic arm; Accordingly, acquiring the first reference image captured by the first camera and the second reference image captured by the second camera when the target soft needle is removed from the target bottom shell and moved to the first processing position includes: Control the robotic arm to grip the target soft needle, remove the target soft needle from the target bottom shell, and move it vertically upwards; After the robotic arm grasps the target soft needle and moves it vertically upward to the second processing position, it moves it horizontally back to the first processing position. When the target soft needle is in the first processing position, acquire the first reference image captured by the first camera and the second reference image captured by the second camera.

7. A PCB soft pin alignment device, characterized in that, The PCB soft pin alignment system includes: a target base shell, a target soft pin, a first camera located below the target soft pin, and a second camera located to the side of the target soft pin. The PCB soft pin alignment device includes: The target soft needle acquisition module is used to acquire a first reference image captured by a first camera and a second reference image captured by a second camera when the target soft needle is removed from the target bottom shell and moved to a first processing position, wherein the reference alignment angle of the target soft needle remains unchanged during the process of the target soft needle being removed from the target bottom shell and moved to the first processing position; The lateral coordinate acquisition module is used to perform image processing on the first reference image to obtain the lateral coordinates corresponding to the lateral thin slice of the target soft needle in the first reference image; The longitudinal coordinate acquisition module is used to perform image processing on the second reference image to obtain the longitudinal coordinates and longitudinal angles corresponding to the longitudinal slices of the target soft needle in the second reference image. The soft needle reference determination module is used to determine the reference alignment point coordinates of the target soft needle based on the transverse coordinates corresponding to the transverse thin slice and the longitudinal coordinates corresponding to the longitudinal thin slice, and to determine the longitudinal angle corresponding to the longitudinal thin slice as the reference alignment angle of the target soft needle.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the PCB soft pinning method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the PCB soft-pinning method according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the PCB soft pinning method according to any one of claims 1-6.

Images