System and method for automatically assembling and positioning front-end module based on binocular vision

Abstract

The system comprises an automatic assembling robot, an assembling platform and a front-end module are installed at the bottom of the automatic assembling robot, a mechanical arm is movably arranged at the upper end of the automatic assembling robot, and an assembling adjusting frame is installed at the end of the mechanical arm; a first visual monitoring camera and a second visual monitoring camera are installed on the positions, located on the two sides of the assembling clamp, of the mechanical arm correspondingly. According to the front-end module automatic assembly positioning system and method based on binocular vision, the two sets of industrial area array vision monitoring cameras look at the same object, namely, the visual fields coincide as far as possible, 3D information of the surface of the object can be obtained, a short lens is used, the working distance is shortened, the visual field is increased, a small aperture is used, and the system and the method are convenient to use. And a triangular structure is adopted to converge on the front-end module, so that better precision can be provided, and a blind area is reduced.

Description

Technical Field

[0001] The present invention relates to the field of automatic assembly and positioning of front-end modules, and in particular to a binocular vision-based automatic assembly and positioning system and method for front-end modules. Background Art

[0002] The front-end module automatic assembly and positioning system is a supporting device for the automatic installation of automobile front-end modules. It guides the robot to automatically install the front-end module to meet the needs of different vehicle models. The guidance positioning accuracy is ±0.5mm. It designs FEM positioning and body positioning technology. With the continuous development of science and technology, people's requirements for the front-end module automatic assembly and positioning system are getting higher and higher.

[0003] The existing front-end module assembly system has certain drawbacks when in use. First, the existing front-end module assembly system has a low degree of automation when in use. It uses a group of industrial cameras, and the installation accuracy cannot meet the requirements well, which is not conducive to people's use. In addition, the existing front-end module assembly system is more difficult to control when in use, and the blind area is large, which brings certain adverse effects to people's use process. For this reason, we propose a front-end module automatic assembly and positioning system and method based on binocular vision. Summary of the invention

[0004] Technical problems solved: In view of the shortcomings of the prior art, the present invention provides a front-end module automatic assembly and positioning system and method based on binocular vision. Two groups of industrial area array vision monitoring cameras look at the same object, that is, the fields of view overlap as much as possible, and 3D information of the object surface can be obtained. A shorter lens is used to shorten the working distance and increase the field of view. A smaller aperture is used to obtain a longer exposure time and stronger lighting. A triangular structure is used to converge on the front-end module, which can provide better accuracy and reduce blind spots, and can effectively solve the problems in the background technology.

[0005] Technical solution: To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a front-end module automatic assembly and positioning system based on binocular vision, including an automatic assembly robot, an assembly platform and a front-end module are installed at the bottom of the automatic assembly robot, a mechanical arm is movably arranged at the upper end of the automatic assembly robot, an assembly adjustment frame is installed at the end of the mechanical arm, an assembly fixture is installed at the bottom of the assembly adjustment frame, a first visual monitoring camera and a second visual monitoring camera are respectively installed on both sides of the assembly fixture on the mechanical arm, an automatic assembly control system is installed on the mechanical arm, the first visual monitoring camera and the second visual monitoring camera are in a triangular structure, and an automatic assembly positioning system is arranged on the automatic assembly control system.

[0006] As a preferred technical solution of the present application, the automatic assembly and positioning system is connected to an antenna system and a computer, the computer is connected to a remote control terminal, the antenna system is connected to a binocular vision monitoring system, a robot displacement monitoring system and an assembly positioning monitoring system, and the automatic assembly and positioning system is internally provided with a data analysis system, a data acquisition management system, a database and a robot assembly system.

[0007] As a preferred technical solution of the present application, the binocular vision monitoring system includes a voltage module, a dual-camera photo module, a single-chip computer module, a relay module and a display module. The dual-camera photo module is connected to the voltage module and the single-chip computer module, the voltage module is connected to the relay module, and the single-chip computer module is connected to the display module.

[0008] As a preferred technical solution of the present application, the robot displacement monitoring system includes a displacement sensing module, a PLC module, a power supply circuit, a voltage stabilizing module and a robot control module. The displacement sensing module is connected to the power supply circuit and the PLC module, the PLC module is connected to the robot control module, and the power supply circuit is connected to the voltage stabilizing module.

[0009] As a preferred technical solution of the present application, the output ends of the binocular vision monitoring system, the robot displacement monitoring system and the assembly positioning monitoring system are communicatively connected to the input end of the automatic assembly positioning system through an antenna system, and the automatic assembly positioning system is bidirectionally communicatively connected to the remote control terminal through a computer.

[0010] As a preferred technical solution of the present application, the output end of the dual-camera photo module is controlled by a single-chip microcomputer module, and the content of the photo is finally displayed on the display module. The dual-camera photo module is powered by a voltage module and a relay module.

[0011] As a preferred technical solution of the present application, the displacement sensing module is controlled by a PLC module and ultimately controls the operation of the robot control module. The displacement sensing module is powered by a power circuit and a voltage stabilizing module.

[0012] The automatic assembly and positioning method of the front-end module based on binocular vision includes the following steps: S1: Prepare the equipment, including automatic assembly robots, two sets of industrial array vision monitoring cameras, robot automatic hand-eye calibration tools and industrial control equipment; S2: Two sets of industrial area array vision monitoring cameras look at the same object, that is, the field of view overlaps as much as possible, and a binocular vision system is used to obtain 3D information of the object surface; S3: Two sets of industrial area array vision monitoring cameras use shorter lenses to reduce the working distance and increase the field of view; S4: Two sets of industrial area array vision monitoring cameras use smaller apertures to obtain longer exposure time and stronger lighting; S5: Two sets of industrial area array visual monitoring cameras are converged on the front-end module using a triangular structure, which can provide better accuracy and reduce blind spots; S6: The automatic assembly robot receives information transmitted by two sets of industrial area array visual monitoring cameras for automatic assembly, and is remotely controlled by an industrial computer.

[0013] Beneficial effects: Compared with the prior art, the present invention provides a front-end module automatic assembly and positioning system and method based on binocular vision, which has the following beneficial effects: the front-end module automatic assembly and positioning system and method based on binocular vision, two groups of industrial area array visual monitoring cameras look at the same object, that is, the field of view overlaps as much as possible, and 3D information of the object surface can be obtained, a shorter lens is used to shorten the working distance and increase the field of view, a smaller aperture is used to obtain a longer exposure time and stronger lighting, and a triangular structure is used to converge on the front-end module, which can provide better accuracy and reduce blind spots. The entire front-end module automatic assembly and positioning system has a simple structure and is easy to operate, and the effect of use is better than that of traditional methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the front-end module automatic assembly and positioning system and method based on binocular vision of the present invention.

[0015] Figure 2 It is a structural schematic diagram of a dual-vision monitoring camera in the front-end module automatic assembly positioning system and method based on binocular vision of the present invention.

[0016] Figure 3 It is a structural schematic diagram of the automatic assembly and positioning system in the automatic assembly and positioning system and method of the front-end module based on binocular vision of the present invention.

[0017] Figure 4 It is a structural schematic diagram of a binocular vision monitoring system in a binocular vision-based front-end module automatic assembly positioning system and method of the present invention.

[0018] Figure 5 It is a structural schematic diagram of the robot displacement monitoring system in the front-end module automatic assembly positioning system and method based on binocular vision of the present invention.

[0019] In the figure: 1. Automatic assembly robot; 2. Assembly platform; 3. Front-end module; 4. First visual monitoring camera; 5. Robotic arm; 6. Automatic assembly control system; 7. Assembly adjustment frame; 8. Assembly fixture; 9. Second visual monitoring camera. DETAILED DESCRIPTION

[0020] The technical scheme of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments, but it will be understood by those skilled in the art that the following described embodiments are part of embodiments of the present invention, rather than all embodiments, and are only used to illustrate the present invention, and should not be considered as limiting the scope of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present invention. If specific conditions are not specified in the embodiments, they are carried out according to normal conditions or conditions recommended by the manufacturer. If the manufacturer is not specified in the reagents or instruments used, they are all conventional products that can be purchased commercially.

[0021] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] like Figure 1-5As shown, a front-end module automatic assembly and positioning system based on binocular vision includes an automatic assembly robot 1, an assembly platform 2 and a front-end module 3 are installed at the bottom of the automatic assembly robot 1, a mechanical arm 5 is movably arranged on the upper end of the automatic assembly robot 1, an assembly adjustment frame 7 is installed at the end of the mechanical arm 5, an assembly fixture 8 is installed at the bottom of the assembly adjustment frame 7, a first visual monitoring camera 4 and a second visual monitoring camera 9 are respectively installed on both sides of the assembly fixture 8 on the mechanical arm 5, an automatic assembly control system 6 is installed on the mechanical arm 5, the first visual monitoring camera 4 and the second visual monitoring camera 9 are in a triangular structure, and an automatic assembly positioning system is arranged on the automatic assembly control system 6, two groups of industrial area array visual monitoring cameras look at the same object, that is, the field of view overlaps as much as possible, and 3D information of the surface of the object can be obtained, a shorter lens is used to reduce the working distance and increase the field of view, a smaller aperture is used to obtain a longer exposure time and stronger lighting, and a triangular structure is used to converge on the front-end module, which can provide better accuracy and reduce blind spots.

[0024] Furthermore, the automatic assembly and positioning system is connected to an antenna system and a computer, the computer is connected to a remote control terminal, the antenna system is connected to a binocular vision monitoring system, a robot displacement monitoring system and an assembly positioning monitoring system, and the automatic assembly and positioning system is internally provided with a data analysis system, a data acquisition management system, a database and a robot assembly system.

[0025] Furthermore, the binocular vision monitoring system includes a voltage module, a dual-camera photo module, a single-chip microcomputer module, a relay module and a display module. The dual-camera photo module is connected to the voltage module and the single-chip microcomputer module, the voltage module is connected to the relay module, and the single-chip microcomputer module is connected to the display module.

[0026] Furthermore, the robot displacement monitoring system includes a displacement sensing module, a PLC module, a power supply circuit, a voltage stabilizing module and a robot control module. The displacement sensing module is connected to the power supply circuit and the PLC module, the PLC module is connected to the robot control module, and the power supply circuit is connected to the voltage stabilizing module.

[0027] Furthermore, the output ends of the binocular vision monitoring system, the robot displacement monitoring system and the assembly positioning monitoring system are communicatively connected to the input end of the automatic assembly positioning system through the antenna system, and the automatic assembly positioning system is bidirectionally communicatively connected to the remote control terminal through the computer.

[0028] Furthermore, the output end of the dual-camera photo module is controlled by the single-chip microcomputer module, and the photo content is finally displayed on the display module. The dual-camera photo module is powered by the voltage module and the relay module.

[0029] Furthermore, the displacement sensing module is controlled by the PLC module and finally controls the operation of the robot control module. The displacement sensing module is powered by the power supply circuit and the voltage stabilizing module.

[0030] The automatic assembly and positioning method of the front-end module based on binocular vision includes the following steps: S1: Prepare the equipment, including automatic assembly robots, two sets of industrial array vision monitoring cameras, robot automatic hand-eye calibration tools and industrial control equipment; S2: Two sets of industrial area array vision monitoring cameras look at the same object, that is, the field of view overlaps as much as possible, and a binocular vision system is used to obtain 3D information of the object surface; S3: Two sets of industrial area array vision monitoring cameras use shorter lenses to reduce the working distance and increase the field of view; S4: Two sets of industrial area array vision monitoring cameras use smaller apertures to obtain longer exposure time and stronger lighting; S5: Two sets of industrial area array visual monitoring cameras are converged on the front-end module using a triangular structure, which can provide better accuracy and reduce blind spots; S6: The automatic assembly robot receives information transmitted by two sets of industrial area array visual monitoring cameras for automatic assembly, and is remotely controlled by an industrial computer.

[0031] Working principle: The present invention includes an automatic assembly robot 1, an assembly platform 2, a front-end module 3, a first visual monitoring camera 4, a mechanical arm 5, an automatic assembly control system 6, an assembly adjustment frame 7, an assembly fixture 8, and a second visual monitoring camera 9. The equipment is prepared, including an automatic assembly robot, two groups of industrial area array visual monitoring cameras, a robot automatic hand-eye calibration tool and industrial control equipment; the two groups of industrial area array visual monitoring cameras look at the same object, that is, the field of view overlaps as much as possible, and a binocular vision system is used to obtain 3D information on the surface of the object; the two groups of industrial area array visual monitoring cameras use shorter lenses to reduce the working distance and increase the field of view; the two groups of industrial area array visual monitoring cameras use smaller apertures to obtain longer exposure time and stronger lighting; the two groups of industrial area array visual monitoring cameras use a triangular structure to converge on the front-end module, which can provide better accuracy and reduce blind spots; the automatic assembly robot receives the information transmitted by the two groups of industrial area array visual monitoring cameras for automatic assembly, and is remotely controlled by an industrial computer.

[0032] It should be noted that, in this article, relational terms such as first and second (number one, number two), etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0033] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A front-end module automatic assembly and positioning system based on binocular vision, comprising an automatic assembly robot (1), characterized in that: An assembly platform (2) and a front-end module (3) are installed at the bottom of the automatic assembly robot (1); a mechanical arm (5) is movably provided at the upper end of the automatic assembly robot (1); an assembly adjustment frame (7) is installed at the end of the mechanical arm (5); an assembly fixture (8) is installed at the bottom of the assembly adjustment frame (7); a first visual monitoring camera (4) and a second visual monitoring camera (9) are respectively installed at positions on both sides of the assembly fixture (8) on the mechanical arm (5); an automatic assembly control system (6) is installed on the mechanical arm (5); the first visual monitoring camera (4) and the second visual monitoring camera (9) are in a triangular structure; and an automatic assembly positioning system is provided on the automatic assembly control system (6).

2. The front-end module automatic assembly and positioning system based on binocular vision according to claim 1 is characterized in that: The automatic assembly and positioning system is connected to an antenna system and a computer, the computer is connected to a remote control terminal, the antenna system is connected to a binocular vision monitoring system, a robot displacement monitoring system and an assembly and positioning monitoring system, and the automatic assembly and positioning system is internally provided with a data analysis system, a data acquisition management system, a database and a robot assembly system.

3. The front-end module automatic assembly and positioning system based on binocular vision according to claim 1, characterized in that: The binocular vision monitoring system includes a voltage module, a dual-camera photo module, a single-chip computer module, a relay module and a display module. The dual-camera photo module is connected to the voltage module and the single-chip computer module, the voltage module is connected to the relay module, and the single-chip computer module is connected to the display module.

4. The front-end module automatic assembly and positioning system based on binocular vision according to claim 1, characterized in that: The robot displacement monitoring system includes a displacement sensing module, a PLC module, a power supply circuit, a voltage stabilizing module and a robot control module. The displacement sensing module is connected to the power supply circuit and the PLC module, the PLC module is connected to the robot control module, and the power supply circuit is connected to the voltage stabilizing module.

5. The front-end module automatic assembly and positioning system based on binocular vision according to claim 2 is characterized in that: The output ends of the binocular vision monitoring system, the robot displacement monitoring system and the assembly positioning monitoring system are communicatively connected to the input end of the automatic assembly positioning system through an antenna system, and the automatic assembly positioning system is bidirectionally communicatively connected to a remote control terminal through a computer.

6. The front-end module automatic assembly and positioning system based on binocular vision according to claim 3 is characterized in that: The output end of the dual-camera photo module is controlled by a single-chip microcomputer module, and the content of the photo is finally displayed on a display module. The dual-camera photo module is powered by a voltage module and a relay module.

7. The binocular vision-based automatic assembly and positioning system for front-end modules according to claim 4, characterized in that: The displacement sensing module is controlled by the PLC module and finally controls the robot control module to work. The displacement sensing module is powered by the power circuit and the voltage stabilizing module.

8. The front-end module automatic assembly and positioning method based on binocular vision is characterized by: The steps include: S1: Prepare the equipment, including automatic assembly robots, two sets of industrial array vision monitoring cameras, robot automatic hand-eye calibration tools and industrial control equipment; S2: Two sets of industrial area array vision monitoring cameras look at the same object, that is, the field of view overlaps as much as possible, and a binocular vision system is used to obtain 3D information of the object surface; S3: Two sets of industrial area array vision monitoring cameras use shorter lenses to reduce the working distance and increase the field of view; S4: Two sets of industrial area array vision monitoring cameras use smaller apertures to obtain longer exposure time and stronger lighting; S5: Two sets of industrial area array visual monitoring cameras are converged on the front-end module using a triangular structure, which can provide better accuracy and reduce blind spots; S6: The automatic assembly robot receives information transmitted by two sets of industrial area array visual monitoring cameras for automatic assembly, and is remotely controlled by an industrial computer.

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