Screw locking correction method and system based on machine vision, equipment and medium

Abstract

The invention provides a screw locking correction method and system based on machine vision, equipment and a medium. The method comprises the following steps that a film placed in a calibration groove of a calibration plate is controlled to be sucked; controlling to collect the image of the sucked film to obtain the center of the film; controlling to collect an image of the mark in the calibration groove so as to obtain a mark center; controlling the film to be placed in the calibration groove according to the center of the film and the mark center; controlling to collect the placed image so as to calculate a deviation value between the center of the film and the center of the mark; and compensating the visual system through the deviation value. According to the mechanism, rapid compensation of screw locking alignment can be achieved, mechanism deviation correction can be completed without manual intervention, and therefore it is guaranteed that assembly production can be rapidly achieved under the condition that equipment is abnormal.

Description

Technical Field

[0001] The present invention relates to the technical field of machine vision, and in particular to a screw locking correction method, system, equipment and medium based on machine vision. Background Art

[0002] In the field of machine vision, the use of XYZ locking modules and visual positioning to lock screws in automated production is currently the mainstream solution for 3C electronic manufacturing. However, when equipment encounters abnormalities, such as collisions, loose modules, loose cameras, etc., how to quickly achieve assembly production is the primary problem. The biggest technical difficulty is to correct the mechanism error after the visual calibration is completed. The current mainstream solution is to correct through manual observation, which is time-consuming and will have certain errors.

[0003] Therefore, it is necessary to optimize the screw locking correction method to improve the above problems. Summary of the invention

[0004] In order to achieve the above-mentioned purpose and other advantages of the present invention, the first purpose of the present invention is to provide a screw locking correction method based on machine vision, comprising the following steps: Control to absorb the film placed in the calibration groove of the calibration plate; Controlling the acquisition of an image of the sucked film to obtain the center of the film; Controlling the acquisition of an image of the mark in the calibration groove to obtain the mark center; Controlling the placement of the film in the marked groove according to the center of the film and the center of the mark; Controlling the acquisition of the placed image to calculate the deviation value between the center of the film and the center of the mark; The vision system is compensated by the deviation value.

[0005] Furthermore, before the step of controlling the film sheet placed in the calibration groove of the calibration plate to be sucked, the method further includes: Controlling the calibration plate to flow into the assembly position, and controlling the streamline to lift and position the calibration plate; The film is placed in the calibration groove of the calibration plate.

[0006] Furthermore, the step of controlling the absorption of the film placed in the calibration groove of the calibration plate includes: The electric screwdriver is controlled to move above the film to absorb the film.

[0007] Furthermore, the step of controlling and collecting the image of the sucked film to obtain the center of the film includes: Control the electric batcher with the film to move to the lower image acquisition device for positioning and taking pictures, and obtain the visual image of the film in the current posture; The film visual image is processed to obtain the center coordinates of the ring of the film.

[0008] Furthermore, the step of processing the visual image of the film to obtain the center coordinates of the ring of the film includes: The center coordinates of the ring of the film are obtained by using a circle grabbing tool through a visual algorithm.

[0009] Furthermore, the step of controlling and collecting the image of the mark in the calibration groove to obtain the mark center includes: Control the upper image acquisition device to take a picture to locate the mark in the calibration groove, and obtain a visual image of the mark in the current posture; The marked visual image is processed to obtain the center coordinates of the mark.

[0010] Furthermore, the step of processing the marked visual image to obtain the center coordinates of the mark includes: The center coordinates of the cross mark are obtained using the cross center grabbing tool through the visual algorithm.

[0011] Further, the step of controlling the film to be placed in the calibration groove according to the center of the film and the center of the mark includes: Calculate the execution point of the locking module using a visual guidance algorithm according to the center coordinates of the ring of the film and the center coordinates of the mark; The film is placed in the marked groove according to the execution point.

[0012] Furthermore, the step of controlling the acquisition of the image after placement to calculate the deviation value between the center of the film and the center of the mark includes: Control the upper image acquisition device to take pictures to obtain the image after placement; Processing the placed image to obtain the center coordinates of the ring of the placed film and the center coordinates of the mark; The difference between the center coordinates of the ring of the placed film and the center coordinates of the mark is calculated to obtain the deviation value.

[0013] Furthermore, the method further comprises the steps of: Determining whether the deviation value is less than a preset value; If yes, the calibration is completed; Otherwise, the process returns to the step of controlling the film sheet placed in the calibration groove of the calibration plate and re-executes the step.

[0014] The second object of the present invention is to provide a screw locking correction system based on machine vision to implement the above method, including a calibration plate, a film, an electric screwdriver, a vision system, and a main controller; wherein, The calibration plate is provided with a calibration groove, and a mark is provided in the calibration groove; The electric screwdriver is used to absorb the film; The visual system is used to capture the image of the film and the image of the mark, and to implement visually guided alignment to place the film in the marked groove; The main controller is used to control the electric batch to move and absorb the film, control the visual system to collect images, and calculate the deviation value between the center of the film and the center of the mark according to the collected images to compensate the visual system.

[0015] The third object of the present invention is to provide an electronic device, comprising: a memory on which a program code is stored; a processor connected to the memory and implementing the above method when the program code is executed by the processor.

[0016] A fourth object of the present invention is to provide a computer-readable storage medium having program instructions stored thereon, wherein the program instructions implement the above method when executed by a processor.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a method and system, equipment and medium for correcting screw locking based on machine vision, the method comprising the following steps: controlling the film placed in the calibration groove of the calibration plate to be sucked; controlling the acquisition of the image of the sucked film to obtain the center of the film; controlling the acquisition of the image of the mark in the calibration groove to obtain the center of the mark; controlling the film to be placed in the calibration groove according to the center of the film and the center of the mark; controlling the acquisition of the image after placement to calculate the deviation value between the center of the film and the center of the mark; and compensating the visual system by the deviation value. The present invention can realize the rapid compensation of the screw locking alignment, and can complete the correction of the mechanism deviation without manual intervention, thereby ensuring that the assembly production can be realized quickly in the case of abnormal equipment.

[0018] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1This is a flow chart of the screw locking correction method based on machine vision of Example 1; Figure 2 This is a flow chart of preparation before absorbing the film in Example 1; Figure 3 The center flow chart of obtaining the film in Example 1; Figure 4 The flowchart of obtaining the marking center of Example 1; Figure 5 The flowchart of placing film in Example 1 is as follows; Figure 6 The flowchart of calculating the deviation value of Example 1 is shown; Figure 7 This is a flow chart of the deviation compensation result determination of Example 1; Figure 8 It is a schematic diagram of film; Fig. 9 is a schematic diagram of the calibration plate; Fig.10 Schematic diagram of placing the film into the calibration plate; Fig.11 Schematic diagram of electric screwdriver sucking film; Fig.12 The following is a schematic diagram of an image acquisition device acquiring film images; Fig.13 Schematic diagram of the coordinates of the center of the ring of film; Fig.14 Schematic diagram of collecting the image of the calibration plate by the upper image acquisition device; Fig.15 It is a schematic diagram of the center coordinates of the cross mark; Fig.16 A schematic diagram of an image captured by an upper image acquisition device after placement; Fig.17 It is a schematic diagram of the center coordinates of the ring of the film and the center coordinates of the cross mark; Fig.18 is a schematic diagram of an electronic device of Example 3; Fig.19 This is a schematic diagram of a computer-readable storage medium of Example 4.

[0020] In the figure: 1. calibration plate; 11. calibration groove; 12. mark; 2. film; 21. ring; 3. electric screwdriver; 4. lower image acquisition device; 5. upper image acquisition device. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. It should be noted that, under the premise of no conflict, the embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0022] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0023] The figure numbers in this application are only used to distinguish the various steps in the scheme, and are not used to limit the execution order of the various steps. The specific execution order is subject to the description in the specification.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0025] Example 1 A screw locking correction method based on machine vision, such as Figure 1 As shown, the following steps are included: In some embodiments, Figure 2 , Figure 8 , Fig. 9 As shown, before the step of controlling the film sheet placed in the calibration groove of the calibration plate, the step also includes: S100, controlling the calibration plate 1 to flow into the assembly position, and controlling the streamline to lift and position the calibration plate 1; like Fig. 9 As shown, the calibration plate is made of aluminum alloy with a mirror-finished surface. The inner mark size is 8mmX8mm, the cross feature is centered and measures 4mmx4mm, the pattern is clear, black line segments are used, the line width is 0.25mm, the outer size is 15mmX15mm, and the concave size is 2mmX2mm.

[0026] S110, placing the film 2 in the calibration groove 11 of the calibration plate 1, as shown in FIG. Fig.10 shown.

[0027] like Figure 8 As shown, the film is made of polyester film with a thickness of less than 0.2mm, a ring formed by two concentric circles, an inner concentricity of 0.01mm, and has the characteristics of being transparent, non-deformed, non-bending, and non-blocking of the virtual carrier. The pattern is clear, and black line segments are used with a line width of 0.25mm. The virtual size is 8mmX8mm, and a nozzle mechanism can be installed to achieve a stable adsorption effect.

[0028] It should be noted that Figure 8 , Fig. 9 The film and calibration plate are only for illustration, and this embodiment does not limit the specific size, material, etc. of the film and calibration plate.

[0029] S1, control to absorb the film placed in the calibration groove of the calibration plate; In some embodiments, the step of controlling the film placed in the calibration groove of the calibration plate to be sucked includes: like Fig.11 As shown, the electric screwdriver 3 is controlled to move above the film sheet 2 to absorb the film sheet 2 .

[0030] S2, controlling the acquisition of an image of the sucked film to obtain the center of the film; In some embodiments, Figure 3 As shown, the step of controlling and collecting the image of the sucked film to obtain the center of the film includes: S21, such as Fig.12 As shown, the electric batcher 3 sucking the film 2 is controlled to move to the lower image acquisition device 4 for positioning and taking pictures, so as to obtain a visual image of the film in the current posture; wherein the lower image acquisition device 4 can adopt a CCD camera.

[0031] S22, processing the film visual image to obtain the center coordinates of the ring 21 of the film, such as Fig.13 shown.

[0032] Specifically, the step of processing the visual image of the film to obtain the center coordinates of the ring of the film includes: The circle grabbing tool is used through a visual algorithm to obtain the center coordinates XY of the ring of the film, which are the position and posture of the film in the XYZ locking module and the material position. The center coordinates XY of the ring of the film are recorded.

[0033] S3, controlling the acquisition of an image of the mark in the calibration groove to obtain the mark center; In some embodiments, Figure 4 As shown, the step of controlling the acquisition of the image of the mark in the calibration groove to obtain the mark center includes: S31, such as Fig.14 As shown, the upper image acquisition device 5 is controlled to take a photo to locate the mark in the calibration groove 11, and obtain a visual image of the mark in the current posture; wherein the upper image acquisition device 5 can be a CCD camera. Specifically, the upper CCD is locked to move to the photo position, and the photo is taken to locate the center of the cross mark in the calibration groove 11.

[0034] S32: Process the marked visual image to obtain the center coordinates of the mark.

[0035] Specifically, the step of processing the marked visual image to obtain the center coordinates of the mark includes: Use the cross center grabbing tool through the visual algorithm to get the center coordinates of the cross mark, such as Fig.15 The center coordinate XY of the cross mark is the position and posture of the cross mark in the XYZ locking module, the target position. And the center coordinate XY of the cross mark is recorded.

[0036] S4, placing the film in the marked groove according to the center of the film and the center of the mark; In some embodiments, Figure 5 As shown, the step of placing the film in the marked groove according to the center of the film and the center of the mark comprises: S41, calculating the execution point of the locking module using a visual guidance algorithm according to the center coordinates of the ring of the film and the center coordinates of the mark; S42: placing the film in the calibration groove according to the execution point.

[0037] S5, controlling the acquisition of the image after placement to calculate the deviation value between the center of the film and the center of the mark; In some embodiments, Figure 6 As shown, the step of controlling the acquisition of the placed image to calculate the deviation value between the center of the film and the center of the mark includes: S51, such as Fig.16 As shown, the upper image acquisition device 5 is controlled to take pictures to obtain the image after placement; specifically, the upper CCD is locked to take pictures to calculate the deviation value between the center of the film 2 in the calibration groove 11 of the calibration plate 1 and the center of the mark 3 in the calibration groove 11.

[0038] Since the film is made of transparent material, the film ring center coordinates XY and the cross mark center coordinates XY can be obtained.

[0039] S52, processing the placed image to obtain the center coordinates of the ring of the placed film and the center coordinates of the mark, such as Fig.17 shown.

[0040] S53, calculating the difference between the center coordinates of the ring of the placed film and the center coordinates of the mark to obtain a deviation value.

[0041] Since the XY coordinates of the center of the film ring and the center of the cross mark are both in the XYZ locking module coordinate system, the difference between the center of the film ring and the center of the cross mark in the X direction and the difference in the Y direction can be calculated. The difference in the X direction and the difference in the Y direction are the deviation values. The deviation values ​​are compensated to the visual system, and then the deviation situation and the compensation effect can be used to determine whether the entire process needs to be reciprocated.

[0042] S6. Compensating the visual system using the deviation value.

[0043] In some embodiments, Figure 7 As shown, the steps include: S7. Determine whether the deviation value is less than a preset value; for example, set the preset value to 0.05.

[0044] S8. If yes, the calibration is completed; for example, when the deviation value is less than 0.05, the calibration is completed.

[0045] Otherwise, the process returns to S1 and the step of controlling the film placed in the calibration groove of the calibration plate is executed again.

[0046] This embodiment provides a screw locking correction method based on machine vision, which includes the following steps: controlling the film placed in the calibration groove of the calibration plate to be sucked; controlling the acquisition of the image of the sucked film to obtain the center of the film; controlling the acquisition of the image of the mark in the calibration groove to obtain the center of the mark; controlling the film to be placed in the calibration groove according to the center of the film and the center of the mark; controlling the acquisition of the image after placement to calculate the deviation value between the center of the film and the center of the mark; and compensating the visual system through the deviation value. This embodiment can realize the rapid compensation of the screw locking alignment, and can complete the correction of the mechanism deviation without manual intervention, thereby ensuring that the assembly production can be quickly realized in the event of abnormality of the equipment.

[0047] Example 2 Based on the same concept, this embodiment also provides a screw locking correction system based on machine vision, which is used to implement the screw locking correction method based on machine vision provided in Example 1. For a detailed description of the screw locking correction method based on machine vision provided in Example 1, please refer to the corresponding description in Example 1 and will not be repeated here.

[0048] It is understandable that the machine vision-based screw locking correction system provided in this embodiment includes hardware structures and / or software modules corresponding to the execution of each function in order to realize the above functions. In combination with the units and algorithm steps of each example disclosed in this embodiment, this embodiment can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of this embodiment.

[0049] A screw locking correction system based on machine vision includes a calibration plate, a film, an electric screwdriver, a vision system, and a main controller; wherein: The calibration plate is provided with a calibration groove, and a mark is provided in the calibration groove; The electric screwdriver is used to absorb the film; The visual system is used to capture the image of the film and the image of the mark, and to implement visually guided alignment to place the film in the marked groove; The main controller is used to control the electric batch to move and absorb the film, control the visual system to collect images, and calculate the deviation value between the center of the film and the center of the mark according to the collected images to compensate the visual system.

[0050] like Figure 8 As shown, the film is made of polyester film with a thickness of less than 0.2mm, a ring formed by two concentric circles, an inner concentricity of 0.01mm, and has the characteristics of being transparent, non-deformed, non-bending, and non-blocking of the virtual carrier. The pattern is clear, and black line segments are used with a line width of 0.25mm. The virtual size is 8mmX8mm, and a nozzle mechanism can be installed to achieve a stable adsorption effect.

[0051] like Fig. 9 As shown, the calibration plate is made of aluminum alloy with a mirror-finished surface. The inner mark size is 8mmX8mm, the cross feature is centered and measures 4mmX4mm, the pattern is clear, black line segments are used, the line width is 0.25mm, the outer size is 15mmX15mm, and the concave size is 2mmX2mm.

[0052] It should be noted that Figure 8 , Fig. 9 The film and calibration plate are only for illustration, and this embodiment does not limit the specific size, material, etc. of the film and calibration plate.

[0053] In some embodiments, the master controller may include the following process: A film suction control module is used to control the suction of the film placed in the calibration groove of the calibration plate; A film center acquisition module is used to control the acquisition of the image of the sucked film to obtain the center of the film; A marking center obtaining module, used for controlling the acquisition of an image of the mark in the calibration groove to obtain the marking center; A film placement control module, used for controlling the film to be placed in the marked groove according to the center of the film and the center of the mark; A deviation value calculation module, used for controlling the acquisition of the placed image to calculate the deviation value between the center of the film and the center of the mark; The deviation compensation module is used to compensate the visual system through the deviation value.

[0054] In one embodiment, the main controller further comprises, before controlling to absorb the film placed in the calibration groove of the calibration plate: Controlling the calibration plate to flow into the assembly position, and controlling the streamline to lift and position the calibration plate; The film is placed in the calibration groove of the calibration plate.

[0055] In one embodiment, the film suction control module controls the suction of the film placed in the calibration groove of the calibration plate in the following manner: The electric screwdriver is controlled to move above the film to absorb the film.

[0056] In one embodiment, the film center acquisition module controls the acquisition of the image of the sucked film in the following manner to obtain the film center: Control the electric batcher with the film to move to the lower image acquisition device for positioning and taking pictures, and obtain the visual image of the film in the current posture; The film visual image is processed to obtain the center coordinates of the ring of the film.

[0057] In one implementation, the film center acquisition module processes the film visual image in the following manner to obtain the coordinates of the center of the ring of the film: The center coordinates of the ring of the film are obtained by using a circle grabbing tool through a visual algorithm.

[0058] In one embodiment, the marking center obtaining module controls the acquisition of the image of the mark in the calibration groove to obtain the marking center in the following manner: Control the upper image acquisition device to take a picture to locate the mark in the calibration groove, and obtain a visual image of the mark in the current posture; The marked visual image is processed to obtain the center coordinates of the mark.

[0059] In one implementation, the marking center obtaining module processes the marking visual image in the following manner to obtain the center coordinates of the marking: The center coordinates of the cross mark are obtained using the cross center grabbing tool through the visual algorithm.

[0060] In one embodiment, the film placement control module controls the placement of the film in the marked groove according to the center of the film and the center of the mark in the following manner: Calculate the execution point of the locking module using a visual guidance algorithm according to the center coordinates of the ring of the film and the center coordinates of the mark; The film is placed in the marked groove according to the execution point.

[0061] In one implementation, the deviation value calculation module controls the acquisition of the placed image in the following manner to calculate the deviation value between the center of the film and the center of the mark: Control the upper image acquisition device to take pictures to obtain the image after placement; Processing the placed image to obtain the center coordinates of the ring of the placed film and the center coordinates of the mark; The difference between the center coordinates of the ring of the placed film and the center coordinates of the mark is calculated to obtain the deviation value.

[0062] In one embodiment, the main controller further includes: Determining whether the deviation value is less than a preset value; If yes, the calibration is completed; Otherwise, the process returns to the step of controlling the film sheet placed in the calibration groove of the calibration plate and re-executes the step.

[0063] Regarding the main controller in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0064] It should be noted that the principle and workflow of the screw locking correction system based on machine vision provided in this embodiment are similar to those of the screw locking correction method based on machine vision provided in Example 1. The relevant parts can be referred to the above description and will not be repeated here.

[0065] This embodiment provides a screw locking correction system based on machine vision, which includes a calibration plate, a film, and a visual system; wherein the calibration plate is provided with a calibration groove, and a mark is provided in the calibration groove; the visual system is used to collect images of the film and the mark, and calculate the deviation value between the center of the film and the center of the mark based on the collected images to compensate the visual system. This embodiment can realize rapid compensation of screw locking alignment, and can complete the correction of mechanism deviation without manual intervention, thereby ensuring that assembly production can be quickly realized in the event of an abnormality in the equipment.

[0066] Example 3 An electronic device, such as Fig.18 As shown, it includes: a memory on which program codes are stored; a processor connected to the memory, and when the program codes are executed by the processor, a screw locking correction method based on machine vision is implemented. For a detailed description of the method, reference can be made to the corresponding description in the above method embodiment, which will not be repeated here.

[0067] Example 4 A computer readable storage medium such as Fig.19 As shown, program instructions are stored thereon, and when the program instructions are executed by the processor, a screw locking correction method based on machine vision is implemented. For a detailed description of the method, reference can be made to the corresponding description in the above method embodiment, and no further description is given here.

[0068] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0069] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

[0070] The apparatus, electronic device, non-volatile computer storage medium and method provided in the embodiments of this specification correspond to each other, and therefore, the apparatus, electronic device and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, electronic device and non-volatile computer storage medium will not be repeated here.

[0071] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software units for implementing the method and structures within the hardware component.

[0072] The systems, devices or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described separately by functions in various units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in the same or more software and / or hardware.

[0073] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0074] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0075] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0076] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0077] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0078] The specification may be described in the general context of computer-executable instructions executed by a computer, such as program units. Generally, program units include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program units may be located in local and remote computer storage media, including storage devices.

[0079] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0080] The above description is only an embodiment of this specification and is not intended to limit one or more embodiments of this specification. For those skilled in the art, one or more embodiments of this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of this specification shall be included in the scope of the claims of one or more embodiments of this specification.

Claims

1. A screw locking correction method based on machine vision, characterized in that: The following steps are involved: Control to absorb the film placed in the calibration groove of the calibration plate; Controlling the acquisition of an image of the sucked film to obtain the center of the film; Controlling the acquisition of an image of the mark in the calibration groove to obtain the mark center; Controlling the placement of the film in the marked groove according to the center of the film and the center of the mark; Controlling the acquisition of the placed image to calculate the deviation value between the center of the film and the center of the mark; The vision system is compensated by the deviation value.

2. A method for correcting screw locking based on machine vision as claimed in claim 1, characterized in that: Before the step of controlling the film sheet placed in the calibration groove of the calibration plate, the method further includes: Controlling the calibration plate to flow into the assembly position, and controlling the streamline to lift and position the calibration plate; The film is placed in the calibration groove of the calibration plate.

3. The method for correcting screw locking based on machine vision as claimed in claim 1, characterized in that: The step of controlling the film sheet placed in the calibration groove of the calibration plate to be sucked comprises: The electric screwdriver is controlled to move above the film to absorb the film.

4. The method for correcting screw locking based on machine vision as claimed in claim 1, characterized in that: The step of controlling and collecting the image of the sucked film to obtain the center of the film comprises: Control the electric batcher with the film to move to the lower image acquisition device for positioning and taking pictures, and obtain the visual image of the film in the current posture; The film visual image is processed to obtain the center coordinates of the ring of the film.

5. A screw locking correction method based on machine vision as claimed in claim 4, characterized in that: The step of processing the visual image of the film to obtain the center coordinates of the ring of the film comprises: The center coordinates of the ring of the film are obtained by using a circle grabbing tool through a visual algorithm.

6. The method for correcting screw locking based on machine vision as claimed in claim 4, characterized in that: The step of controlling and collecting the image of the mark in the calibration groove to obtain the mark center comprises: Control the upper image acquisition device to take a picture to locate the mark in the calibration groove, and obtain a visual image of the mark in the current posture; The marked visual image is processed to obtain the center coordinates of the mark.

7. A method for correcting screw locking based on machine vision as claimed in claim 6, characterized in that: The step of processing the marked visual image to obtain the center coordinates of the mark comprises: The center coordinates of the cross mark are obtained using the cross center grabbing tool through the visual algorithm.

8. The method for correcting screw locking based on machine vision as claimed in claim 6, characterized in that: The step of controlling the film to be placed in the marked groove according to the center of the film and the center of the mark comprises: Calculate the execution point of the locking module using a visual guidance algorithm according to the center coordinates of the ring of the film and the center coordinates of the mark; The film is placed in the marked groove according to the execution point.

9. The method for correcting screw locking based on machine vision as claimed in claim 6, characterized in that: The step of controlling the acquisition of the placed image to calculate the deviation value between the center of the film and the center of the mark comprises: Control the upper image acquisition device to take pictures to obtain the image after placement; Processing the placed image to obtain the center coordinates of the ring of the placed film and the center coordinates of the mark; The difference between the center coordinates of the ring of the placed film and the center coordinates of the mark is calculated to obtain the deviation value.

10. The method for correcting screw locking based on machine vision according to claim 1, characterized in that: Also includes the steps: Determine whether the deviation value is less than a preset value; If yes, the calibration is completed; Otherwise, the process returns to the step of controlling the film sheet placed in the calibration groove of the calibration plate and re-executes the step.

11. A screw locking correction system based on machine vision, implementing the method according to any one of claims 1 to 10, characterized in that: Including calibration plate, film, electric screwdriver, visual system, main controller; among them, The calibration plate is provided with a calibration groove, and a mark is provided in the calibration groove; The electric screwdriver is used to absorb the film; The visual system is used to capture the image of the film and the image of the mark, and to implement visually guided alignment to place the film in the marked groove; The main controller is used to control the electric batch to move and absorb the film, control the visual system to capture images, and calculate the deviation value between the center of the film and the center of the mark according to the captured image to compensate the visual system.

12. The machine vision-based screw locking correction system according to claim 11, characterized in that: The film is provided with a ring, and the mark is a cross mark.

13. An electronic device, characterized in that: include: A memory having program code stored therein; A processor connected to the memory, and when the program code is executed by the processor, the method according to any one of claims 1 to 10 is implemented.

14. A computer-readable storage medium, characterized in that: Program instructions are stored thereon, and when the program instructions are executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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