Automatic welding positioning method and system for electrical cabinet

Abstract

The invention provides an electrical cabinet automatic welding positioning method and system, and relates to the field of welding automation, image acquisition: at least three CCD cameras are adopted for shooting to obtain images, and a first image, a second image and a third image are respectively generated; plane coordinate conversion: carrying out plane coordinate conversion on the coordinates obtained in the first image and generating a fourth image; three-dimensional space coordinate conversion: according to the second image and the third image, space coordinates are converted through visual modeling, and three-dimensional space coordinate points are generated; image fusion: fusing the fourth image and the three-dimensional space coordinate points to generate a reference image; welding positioning: comparing the reference image with an actual to-be-welded electrical cabinet, and generating a point location diagram according to a difference value between the reference icon and the actual to-be-welded electrical cabinet; and welding is conducted, specifically, the actual to-be-welded electrical cabinet is welded according to the point location diagram. Welding errors can be greatly reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of welding automation, and in particular to an automatic welding positioning method for an electrical cabinet. Background Art

[0002] With the development of automation technology, industrial automation technology has been widely used around the world. Automation technology has the advantages of improving industrial production efficiency, reducing costs, improving manufacturing quality, and manufacturing better quality products.

[0003] The welding robots of the prior art cannot perform high-precision positioning and welding, resulting in low welding quality and efficiency, and cannot realize intelligent manufacturing. In addition, the inability to perform high-precision positioning may even cause the product to be unusable, resulting in a large amount of waste. For example, in the welding of electrical cabinets, the existing welding steps are cumbersome, including parts processing: processing the corners and edges of the parts to be welded to make them in the best state; marking: using a special marking tool to mark the welding area to determine the exact position of each welding point; positioning: using manual arc welding, automatic welding, etc. to implement welding according to the marking situation and welding technical requirements; inspection: inspecting the welding quality and handling products with unqualified welding. Traditional methods can no longer meet the high-precision positioning and high-standard welding requirements required now.

[0004] Patent document CN105036551A discloses a robot automatic welding device based on image positioning, comprising: an industrial robot, a robot controller, a laser welding gun holder, an image processing computer, an image acquisition computer, a welding image acquisition device and a welding camera, wherein the robot controller is provided with an image processing computer communication module, a servo control module, a driver, a servo motor and a reducer. The present invention also provides a robot automatic welding method based on image positioning, comprising the following steps: (1) position recognition; (2) posture calculation; (3) weld tracking and welding. The present invention realizes high-precision positioning and welding of robot welding, but cannot realize three-dimensional positioning in space, and cannot perform welding positioning in three-dimensional space.

[0005] Therefore, it is urgent to design an automated welding positioning method for an electrical cabinet to achieve high-precision positioning of the electrical cabinet before welding, especially high-standard welding positioning in three-dimensional space. Compared with the prior art, the present invention has the advantages of high positioning accuracy, high welding quality, and high degree of automation.

[0006] Therefore, how to provide an automated welding positioning method and system for an electrical cabinet to contribute to the automatic welding of the three-dimensional space of the electrical cabinet and improve work efficiency is a problem that needs to be solved. Summary of the invention

[0007] The purpose of the present invention is to provide an electrical cabinet automatic welding positioning method and system to solve the following technical problems:

[0008] 1. The welding robot is unable to perform high-precision positioning and welding, resulting in low welding work quality and efficiency, and unable to achieve intelligent manufacturing.

[0009] 2. Due to the inability to perform high-precision positioning, the product may even become unusable, resulting in a large amount of waste.

[0010] 3. Traditional methods can no longer meet the current requirements for high-precision positioning and high-standard welding.

[0011] 4. The robot automatic welding device based on image positioning disclosed in patent document CN105036551A realizes high-precision positioning and welding of robot welding, but cannot realize three-dimensional positioning in space and cannot perform welding positioning in three-dimensional space.

[0012] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0013] The automated welding positioning method for an electrical cabinet comprises:

[0014] Image acquisition: using at least three CCD cameras to capture images and generate a first image, a second image, and a third image respectively;

[0015] Plane coordinate conversion: performing plane coordinate conversion on the coordinates obtained in the first image and generating a fourth image;

[0016] Three-dimensional space coordinate conversion: converting space coordinates and generating three-dimensional space coordinate points through visual modeling according to the second image and the third image;

[0017] Image fusion: fusing the fourth image with the three-dimensional space coordinate points to generate a reference image;

[0018] Welding positioning: comparing the reference image with the actual electrical cabinet to be welded and generating a point map based on the difference between the reference image and the actual electrical cabinet to be welded;

[0019] Welding: Welding the electrical cabinet to be welded is performed according to the point map.

[0020] As a further technical solution of the present invention: the image acquisition includes: setting marking points on the actual electrical cabinet to be welded.

[0021] As a further technical solution of the present invention: the plane coordinate transformation includes: inputting the first image and the marking point into the coordinate recognition model respectively, the coordinate recognition model outputs the recognition coordinates in the first image, and corrects the recognition coordinates of the first image to generate a fourth image.

[0022] The coordinate recognition model is to establish a coordinate recognition correspondence between the first image and the marking point through a neural network.

[0023] As a further technical solution of the present invention: the three-dimensional space coordinate conversion includes: obtaining the three-dimensional space coordinates of the second image and the third image in the first image according to the first image and generating three-dimensional space coordinate points.

[0024] As a further technical solution of the present invention: the image fusion includes: performing three-dimensional coordinate recognition on the fourth image to generate a second coordinate point; comparing the image information in the second image and the third image at the three-dimensional coordinate point, and judging whether the coordinate difference between the second image and the third image is within a preset range based on the three-dimensional coordinate point and the second coordinate point; if so, fusing the second image and the third image using a nonlinear interpolation algorithm; if not: re-capturing the second image and the third image.

[0025] As a further technical solution of the present invention: the three-dimensional coordinate recognition method comprises:

[0026] S1: locating the position coordinates of the marking point of the first image;

[0027] S2: Identify welding points in the first image.

[0028] Technical effects and advantages of the present invention:

[0029] At least three CCD cameras are used to acquire the first image, the second image and the third image by photographing the photographing point at different angles.

[0030] Then, coordinate recognition and correction are performed on the first image, and a fourth image and three-dimensional space coordinate points are generated according to the first image.

[0031] The fourth image and the three-dimensional space coordinate points are obtained, and the fourth image and the three-dimensional space coordinate points are fused by a nonlinear interpolation algorithm. The second image and the third image are fused by a nonlinear interpolation algorithm, so as to reduce the three-dimensional space coordinate points of the two-dimensional image and compare them with the three-dimensional space coordinate points to generate a reference image.

[0032] The reference image is used to compare the actual electrical cabinet to be welded, so as to form a point map, which is the difference between the reference image and the actual electrical cabinet to be welded, so that the actual electrical cabinet to be welded is welded according to the difference.

[0033] Preferably, the purpose of using three or more CCD cameras is to obtain more realistic and accurate captured images, and three-dimensional stereo images can be formed between the images.

[0034] Preferably, the purpose of using the marking points is to determine the coordinates of the captured image.

[0035] Preferably, the coordinate recognition model is a mathematical model established based on neural network technology, and its purpose is to form a neural network relationship between the first image and the marking point, thereby establishing a coordinate relationship between the two, so as to recognize the first image and identify its coordinates.

[0036] Preferably, the purpose of setting the plane coordinate transformation is to eliminate the coordinate error in the recognition process. The coordinate relationship between the first image and the marking point is compared using the coordinate recognition model to obtain the coordinate value of the first image.

[0037] Preferably, the three-dimensional spatial coordinate points of the second image and the third image in the first image are obtained by using the first image as a reference image to establish a spatial coordinate relationship between the second image and the third image, thereby forming three-dimensional coordinate information of the three-dimensional spatial coordinate points on the second image and the third image.

[0038] Preferably, the second image and the third image are fused by a nonlinear interpolation algorithm because there are errors between the second image and the third image. Therefore, by using the difference between the second image and the third image, the second image and the third image are fused by a nonlinear interpolation algorithm to obtain a true and reliable image data. The fused image data is compared with the coordinates of the marked points to generate a reference image. The reference image is accurate image data without coordinate errors.

[0039] Preferably, the three-dimensional coordinate recognition of the first image is used to determine the welding point, thereby forming a comparison between the reference image and the actual electrical cabinet to be welded.

[0040] The automatic welding positioning system of the electrical cabinet comprises: a positioning module for inputting the size of the actual electrical cabinet to be welded;

[0041] Image acquisition module: used to establish the shooting position according to the size of the electrical cabinet input by the positioning module;

[0042] Shooting module: used to set the shooting focal length, shooting angle and shooting position of multiple CCD cameras according to the shooting position;

[0043] Image generation module: used to process the image acquired by the CCD camera according to the shooting position and shooting angle to generate a reference image;

[0044] Control module: used to control the image acquisition module, shooting module and image generation module;

[0045] Input module: used to input the model and structure of the electrical appliance into the control module;

[0046] Matching module: used to compare the model and structure of the electrical appliance with the reference image and output a comparison diagram;

[0047] A point map generation module: used for comparing the coordinates of the electrical cabinet with the coordinates of the reference image by a nonlinear interpolation algorithm according to the comparison map and generating a point map;

[0048] Output module: used for outputting the point map to an external welding machine;

[0049] Welding module: used for welding according to the welding point map.

[0050] As a further technical solution of the present invention: the control module includes:

[0051] Image acquisition unit: used to acquire the image captured by the shooting module;

[0052] The image acquisition unit includes a first image acquisition unit, a second image acquisition unit and a third image acquisition unit, and the control module fuses the first image, the second image and the third image to generate a fourth image;

[0053] The image acquisition unit includes a two-dimensional coordinate recognition unit and a three-dimensional coordinate recognition unit, the two-dimensional coordinate recognition unit is used to compare the first image with the marking point to generate a fourth image, and the three-dimensional coordinate recognition unit is used to establish a three-dimensional coordinate point in the fourth image from the second image and the third image;

[0054] A coordinate point matching unit: used for matching three-dimensional coordinate points of the second image and the third image;

[0055] A marking point coordinate point recognition unit: used for recognizing the coordinate point of the marking point in the fourth image;

[0056] Coordinate point fusion unit: used to fuse the coordinate points of the marking points, compare the coordinate points of the marking points with the three-dimensional coordinate points of the second image and the third image and generate comparison values, and the comparison values ​​are used to fuse the second image and the third image through a nonlinear interpolation algorithm to generate a reference image.

[0057] Technical effects and advantages of the present invention:

[0058] The positioning module is used to obtain the model and size of the electrical cabinet, and the electrical model and structure are matched according to the model and size. This enables the system to form an image that matches the model of the electrical cabinet, thereby facilitating the control module to generate the shooting parameters of the shooting module according to the model.

[0059] The shooting conditions can be generated by the image acquisition module, thereby forming the settings of the shooting module to control the shooting focus, angle and position parameters.

[0060] The multiple CCD cameras in the shooting module can be used for precise shooting to form images at different angles.

[0061] Images taken by multiple CCD cameras are acquired by an image acquisition module to generate a first image, a second image and a third image, and the first image, the second image and the third image are respectively input into the control module.

[0062] The control module processes all the captured images to form a reference image.

[0063] Preferably, the first image, the second image and the third image are used to identify different image coordinate points respectively, so as to determine the three-dimensional coordinates, wherein the three-dimensional coordinates of the second image and the third image are fused with the first image through a nonlinear interpolation algorithm to reduce errors.

[0064] Preferably, the three-dimensional coordinates are matched using marker points, thereby determining the coordinate points of the three-dimensional coordinates in the captured image.

[0065] Preferably, the first image is recognized by a marking point coordinate point recognition unit, and its coordinate point information is recognized.

[0066] Preferably, the coordinate point fusion unit matches the coordinate points generated by the marking point coordinate point recognition unit with the three-dimensional coordinate points generated by the second image and the third image, and completes the image fusion using a nonlinear interpolation algorithm, thereby forming a reference image.

[0067] Preferably, the role of using the matching module is to use the size of the electrical cabinet to match the model and structure of the electrical appliance, thereby serving as a basis for coordinate matching.

[0068] Preferably, a matching module can be used to compare the electrical cabinet with a reference image, thereby generating a point map.

[0069] The point map can be output to an external welding machine through the output module to complete the welding of the electrical cabinet.

[0070] The advantages of the automatic welding positioning system for an electrical cabinet are as follows: a point map can be matched through the matching module of the automatic welding positioning system for an electrical cabinet of the present invention, and high-precision electrical cabinet welding can be performed by outputting the point map.

[0071] Compared with the prior art, the present invention has the following beneficial effects:

[0072] 1. Realize the three-dimensional spatial coordinate recognition of electrical cabinets;

[0073] 2. Achieve the accuracy of the position of the electrical cabinet after welding;

[0074] 3. The electrical cabinet automatic welding positioning system of the present invention can significantly reduce welding errors and improve production efficiency. DETAILED DESCRIPTION

[0075] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0076] Example 1

[0077] The automated welding positioning method for an electrical cabinet comprises:

[0078] Image acquisition: At least three CCD cameras are used to capture images and generate a first image, a second image, and a third image respectively.

[0079] Plane coordinate conversion: performing plane coordinate conversion on the coordinates obtained in the first image and generating a fourth image;

[0080] Three-dimensional space coordinate conversion: converting space coordinates and generating three-dimensional space coordinate points through visual modeling according to the second image and the third image;

[0081] Fusion of the fourth image with the three-dimensional space coordinate points generates a reference image;

[0082] Welding positioning: comparing the reference image with the actual electrical cabinet to be welded and generating a point map based on the difference between the reference image and the actual electrical cabinet to be welded;

[0083] Welding: Welding the electrical cabinet to be welded is performed according to the point map.

[0084] The image acquisition: using at least three CCD cameras to capture images and generate a first image, a second image and a third image respectively,

[0085] Specifically,

[0086] Three CCD cameras are used to capture images and generate a first image, a second image, and a third image respectively.

[0087] The plane coordinate conversion: performing plane coordinate conversion on the coordinates obtained in the first image and generating a fourth image, specifically,

[0088] Respectively obtain the x-axis coordinate and the y-axis coordinate of each pixel of the first image, and set the corresponding position of the x-axis coordinate and the y-axis coordinate as a plane coordinate;

[0089] Determine the reference plane with z axis as 0;

[0090] The fourth image is generated by fitting the x-axis coordinate, the y-axis coordinate and the reference plane of each coordinate point in the first image.

[0091] The three CCD cameras are spaced vertically in pairs and are used to acquire the first image, the second image and the third image.

[0092] The comparison method between the reference image and the actual electrical cabinet to be welded is specifically as follows:

[0093] The reference image is compared with the actual electrical cabinet to be welded and each coordinate point is subjected to difference calculation to generate a difference in the X-axis direction, a difference in the Y-axis direction and a difference in the Z-axis direction respectively;

[0094] A coordinate system is established according to each coordinate point difference value to generate the point map.

[0095] The electrical cabinet automatic welding positioning system of the present invention comprises:

[0096] Image acquisition module: used for the image acquisition unit to acquire images and generate the first image, the second image and the third image;

[0097] A plane coordinate conversion module: used for performing plane coordinate conversion according to the first image and generating a fourth image;

[0098] A three-dimensional space coordinate conversion module: used for converting space coordinates and generating three-dimensional space coordinate values ​​according to the second image and the third image through visual modeling;

[0099] Fusion module: used to generate the first reference image;

[0100] Comparison module: used for comparing the reference image with the actual electrical cabinet to be welded and generating a point map based on the difference;

[0101] Welding module: used to weld the actual electrical cabinet to be welded according to the point map.

[0102] The comparison module comprises:

[0103] Difference submodule: used to compare the reference image with the actual electrical cabinet to be welded and perform difference calculation on each coordinate point to generate the difference in the X-axis direction, the difference in the Y-axis direction and the difference in the Z-axis direction.

[0104] Point map submodule: used to establish a coordinate system according to each coordinate point difference value to generate the point map.

[0105] The implementation method of the present invention: image acquisition, using three CCD cameras to acquire images, including but not limited to three cameras, by acquiring a first image, a second image and a third image by the three cameras, and comparing them to ensure the accuracy of the images;

[0106] The second image and the third image are used to generate spatial coordinates as three-dimensional spatial coordinate values ​​through visual modeling, and the three-dimensional data can determine the three-dimensional position of the object space relative to the origin, that is, (x, y, z);

[0107] Performing plane coordinate conversion on the x-axis coordinate and the y-axis coordinate of each pixel in the first image and generating a fourth image, for example, identifying the x-axis coordinate and the y-axis coordinate of each pixel in the image through image software, and setting the plane coordinate at each coordinate position;

[0108] The fourth image is generated by fitting the x-axis coordinate, the y-axis coordinate and the reference plane of each coordinate point in the first image.

[0109] The fourth image is fused with the three-dimensional space coordinates to generate the reference image.

[0110] And generate a point map based on the difference between the reference map and the actual electrical cabinet to be welded. For example, the reference map and the actual welding cabinet are compared, that is, the data of each point are compared. When there is a difference, it is marked on the third axis, that is, the Z axis, and a coordinate system is established according to the difference of each coordinate point to generate the point map.

[0111] Welding the actual electrical cabinet to be welded is performed according to the point map,

[0112] Working method of the present invention:

[0113] The automatic welding positioning method of an electrical cabinet includes a control unit, wherein the input end of the control unit is respectively connected to an image acquisition unit, a plane coordinate conversion module, a three-dimensional space coordinate conversion module and a fusion module, and the output end of the control unit is respectively connected to a comparison module and a welding module, and specifically includes the following steps:

[0114] S1: The image acquisition module uses three CCD cameras to capture images through the control unit and generates a first image, a second image and a third image respectively;

[0115] S2: the control unit performs plane coordinate transformation on the first image and generates a fourth image;

[0116] S3: The second image and the third image are transmitted through the control unit, and spatial coordinates are converted through visual modeling according to the second image and the third image to generate three-dimensional spatial coordinate points;

[0117] S4: the control unit fuses the fourth image with the three-dimensional space coordinate points to generate a reference image;

[0118] S5: The reference image is compared with the actual electrical cabinet to be welded by the control unit, and a point map is generated based on the difference between the reference image and the actual electrical cabinet to be welded;

[0119] S6: welding the electrical cabinet to be welded through the control unit according to the point map.

[0120] Working process:

[0121] 1. First, turn on the camera, fix the camera in the welding equipment to take three images of the area to be welded, and transmit the three images to the control unit;

[0122] 2. Using the second image and the third image to perform visual modeling through the control unit and converting the images into three-dimensional space coordinate values;

[0123] 3. Using the control unit to perform plane coordinate conversion on the x-axis coordinate and the y-axis coordinate of each pixel in the first image and generate a fourth image;

[0124] Determine a plane with the z-axis at 0, and generate a reference image by combining it with the three-dimensional space coordinate value;

[0125] 4. Compare the reference image with the actual electrical cabinet to be welded through the control unit to generate a point map, that is, compare the cabinet to be welded with the reference image one by one, and generate a point map based on the comparison error;

[0126] 5. Finally, the point map is welded through the control unit.

[0127] The second image and the third image are used to transform the spatial coordinates through visual modeling by the control unit and generate three-dimensional spatial coordinate values. The point cloud image is on the electrical cabinet. The specific implementation process is:

[0128] 1. Using the second image and the third image to perform visual modeling through the control unit and calculate the coordinate value through the formula;

[0129] 2. Determine the plane coordinates of the reference surface and calculate the reference based on the first image.

[0130] The first image is transformed into a plane coordinate by the control unit:

[0131] For example: using image software to identify the X-axis coordinate and Y-axis coordinate of each pixel in an image, and setting the plane coordinate at each coordinate position;

[0132] Determine the reference plane with the z-axis as 0.

[0133] The fourth image is generated by fitting the x-axis coordinate, the y-axis coordinate and the reference plane of each coordinate point in the first image.

[0134] The fourth image is fused with the three-dimensional space coordinate points to generate the reference image, which is specifically implemented as follows:

[0135] The fourth image is matched with the reference plane, for example, by fitting calculation and generating the reference image.

[0136] The reference image is compared with the actual electrical cabinet to be welded and a point map is generated based on the difference between the reference image and the actual electrical cabinet to be welded, including: comparing the reference image with the actual welding cabinet, that is, comparing the data of each point, and when there is a difference, marking it on the third axis, that is, marking it on the Z axis.

[0137] The control unit uses the reference map to weld the actual electrical cabinet to be welded, specifically: the control unit welds the actual electrical cabinet to be welded according to the point map.

[0138] The present invention adopts multiple CCD cameras to acquire images, converts and matches the plane coordinates of the images with the three-dimensional space coordinates, and performs welding according to the image matching difference. The present invention has a simple structure and good welding quality.

[0139] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic welding positioning method for an electrical cabinet, characterized in that: The following steps are involved: Image acquisition: using at least three CCD cameras to capture images and generate a first image, a second image, and a third image respectively; Plane coordinate conversion: performing plane coordinate conversion on the coordinates obtained in the first image and generating a fourth image; Three-dimensional space coordinate conversion: converting space coordinates and generating three-dimensional space coordinate points through visual modeling according to the second image and the third image; Image fusion: fusing the fourth image with the three-dimensional space coordinate points to generate a reference image; Welding positioning: comparing the reference image with the actual electrical cabinet to be welded and generating a point map based on the difference between the reference image and the actual electrical cabinet to be welded; Welding: Welding the electrical cabinet to be welded is performed according to the point map.

2. The method for automatic welding positioning of an electrical cabinet according to claim 1, characterized in that: The image acquisition includes: setting marking points on the actual electrical cabinet to be welded.

3. The method for automatic welding positioning of an electrical cabinet according to claim 1, characterized in that: The plane coordinate conversion includes: inputting the first image and the marking point into a coordinate recognition model respectively, the coordinate recognition model outputting the recognition coordinates in the first image, and correcting the recognition coordinates of the first image to generate a fourth image; The coordinate recognition model is to establish a coordinate recognition correspondence between the first image and the marking point through a neural network.

4. The method for automatic welding positioning of an electrical cabinet according to claim 1, characterized in that: The three-dimensional space coordinate conversion includes: acquiring the three-dimensional space coordinates of the second image and the third image in the first image according to the first image and generating three-dimensional space coordinate points.

5. The method for automatic welding positioning of an electrical cabinet according to claim 1, characterized in that: The image fusion includes: performing three-dimensional coordinate recognition on the fourth image to generate a second coordinate point; comparing the image information in the second image and the third image at the three-dimensional coordinate point, and judging whether the coordinate difference between the second image and the third image is within a preset range based on the three-dimensional coordinate point and the second coordinate point; if so, fusing the second image and the third image using a nonlinear interpolation algorithm; if not: re-capturing the second image and the third image.

6. The method for automatic welding positioning of an electrical cabinet according to claim 1, characterized in that: The three-dimensional coordinate recognition method comprises: S1: locating the position coordinates of the marking point of the first image; S2: Identify welding points in the first image.

7. A positioning system for implementing the electrical cabinet automatic welding positioning method according to claim 1, characterized in that: Electrical cabinet automated welding positioning system, including: Positioning module, used to input the actual size of the electrical cabinet to be welded; Image acquisition module: used to establish the shooting position according to the size of the electrical cabinet input by the positioning module; Shooting module: used to set the shooting focal length, shooting angle and shooting position of multiple CCD cameras according to the shooting position; Image generation module: used to process the image acquired by the CCD camera according to the shooting position and shooting angle to generate a reference image; Control module: used to control the image acquisition module, shooting module and image generation module; Input module: used to input the model and structure of the electrical appliance into the control module; Matching module: used to compare the model and structure of the electrical appliance with the reference image and output a comparison diagram; A point map generation module: used for comparing the coordinates of the electrical cabinet with the coordinates of the reference image by a nonlinear interpolation algorithm according to the comparison map and generating a point map; Output module: used for outputting the point map to an external welding machine; Welding module: used for welding according to the welding point map.

8. The method for automatic welding positioning of an electrical cabinet according to claim 1, characterized in that: The control module comprises: Image acquisition unit: used to acquire the image captured by the shooting module; The image acquisition unit includes a first image acquisition unit, a second image acquisition unit and a third image acquisition unit, and the control module fuses the first image, the second image and the third image to generate a fourth image; The image acquisition unit includes a two-dimensional coordinate recognition unit and a three-dimensional coordinate recognition unit, the two-dimensional coordinate recognition unit is used to compare the first image with the marking point to generate a fourth image, and the three-dimensional coordinate recognition unit is used to establish a three-dimensional coordinate point in the fourth image from the second image and the third image; A coordinate point matching unit: used for matching three-dimensional coordinate points of the second image and the third image; A marking point coordinate point recognition unit: used for recognizing the coordinate point of the marking point in the fourth image; Coordinate point fusion unit: used to fuse the coordinate points of the marking points, compare the coordinate points of the marking points with the three-dimensional coordinate points of the second image and the third image and generate comparison values, and the comparison values ​​are used to fuse the second image and the third image through a nonlinear interpolation algorithm to generate a reference image.