Workpiece splicing method, device and equipment and storage medium

Abstract

The invention is suitable for the technical field of processing, and provides a workpiece splicing method and device, equipment and a storage medium, and the method comprises the steps: obtaining images of a plurality of workpieces; according to the image and the target position and the target angle of each workpiece, determining the position difference and the angle difference of each workpiece; and according to the position difference and the angle difference, adjusting the position and the angle of each workpiece so as to splice each workpiece. According to the workpiece splicing method provided by the embodiment of the invention, the production efficiency can be improved.

Description

Technical Field

[0001] The present application belongs to the field of processing technology, and in particular relates to a workpiece splicing method, device, equipment and storage medium. Background Art

[0002] Door knocker welding is a process for making hardware specifically for car doors. It involves joining multiple metal sheets or parts together through welding technology to form door knockers or door hinges for car doors. These components play an important role in the daily use of cars and can ensure the stability and safety of door openings.

[0003] Before welding the various parts of the car door knocker together, the various parts need to be spliced. The traditional way is that skilled workers manually operate to complete the splicing and welding, resulting in low production efficiency. Summary of the invention

[0004] The embodiments of the present application provide a workpiece splicing method, device, equipment and storage medium, which can improve production efficiency.

[0005] In a first aspect, an embodiment of the present application provides a workpiece splicing method, comprising:

[0006] Acquire images of multiple workpieces;

[0007] Determining the position difference and angle difference of each of the workpieces according to the image, the target position and the target angle of each of the workpieces;

[0008] According to the position difference and the angle difference, the position and angle of each of the workpieces are adjusted to splice the workpieces.

[0009] In a possible implementation manner of the first aspect, adjusting the position and angle of each of the workpieces according to the position difference and the angle difference includes:

[0010] Firstly, the angle of each of the workpieces is adjusted according to the angle difference, and then the position of each of the workpieces is adjusted according to the position difference.

[0011] In a possible implementation manner of the first aspect, adjusting the position of each of the workpieces includes:

[0012] The position of the workpiece located in the middle is adjusted first, and then the positions of the remaining workpieces are adjusted.

[0013] In a possible implementation manner of the first aspect, the readjusting the positions of the remaining workpieces includes:

[0014] Adjust the positions of the remaining workpieces and leave some space, make another angle adjustment, and then make another position adjustment.

[0015] In a possible implementation manner of the first aspect, before acquiring the images of the plurality of workpieces, the workpiece stitching method further includes:

[0016] Each of the workpieces is fixed by an adsorption component.

[0017] In a possible implementation manner of the first aspect, determining the position difference and the angle difference of each of the workpieces according to the image, the target position and the target angle of each of the workpieces includes:

[0018] Identify corners and seams of each of the workpieces from each of the images;

[0019] The position difference and angle difference of each of the workpieces are determined according to the corner, the joint seam, the target position and the target angle of each of the workpieces.

[0020] In a possible implementation manner of the first aspect, acquiring images of multiple workpieces includes:

[0021] Taking images of a plurality of workpieces by a plurality of cameras;

[0022] The adjusting the position and angle of each workpiece comprises:

[0023] The position and angle of each of the workpieces are adjusted through multiple sets of motion axes.

[0024] In a possible implementation manner of the first aspect, the workpiece splicing method further includes:

[0025] determining a target joint seam corresponding to a target workpiece;

[0026] The position of the target workpiece is adjusted along a direction perpendicular to the target joint seam and away from the workpieces next to the target workpiece to change the size of the target joint seam.

[0027] In a second aspect, an embodiment of the present application provides a workpiece splicing device, comprising:

[0028] An image acquisition module is used to: acquire images of multiple workpieces;

[0029] A difference determination module, used to determine the position difference and angle difference of each of the workpieces according to the image, the target position and the target angle of each of the workpieces;

[0030] The adjustment module is used to adjust the position and angle of each of the workpieces according to the position difference and the angle difference to splice the workpieces.

[0031] In a third aspect, an embodiment of the present application provides a processing device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the workpiece splicing method described in any one of the first aspects above when executing the computer program.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the workpiece splicing method described in any one of the above-mentioned first aspects is implemented.

[0033] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device executes the workpiece splicing method described in any one of the first aspects above.

[0034] The beneficial effects of the embodiments of the present application are:

[0035] By acquiring images of multiple workpieces, determining the position difference and angle difference of each workpiece based on the aforementioned images, the target position and target angle of each workpiece, and adjusting the position and angle of each workpiece based on the position difference and angle difference to splice the workpieces, automatic splicing of workpieces can be achieved, batch splicing of workpieces can be achieved, and production efficiency can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 It is a schematic diagram of the process of a workpiece splicing method provided in one embodiment of the present application;

[0038] Figure 2 It is a structural schematic diagram of an automobile door ring involved in a workpiece splicing method provided in an embodiment of the present application;

[0039] Figure 3 is a schematic flow chart of a workpiece splicing method provided in another embodiment of the present application;

[0040] Figure 4 is a flow chart of step A2 of a workpiece splicing method provided in one embodiment of the present application;

[0041] Figure 5 is a flowchart of a workpiece splicing method provided by another embodiment of the present application;

[0042] Figure 6 It is a structural schematic diagram of a workpiece splicing device provided in one embodiment of the present application;

[0043] Figure 7 is a structural schematic diagram of a workpiece splicing device provided in another embodiment of the present application;

[0044] Figure 8 It is a structural schematic diagram of a difference determination module of a workpiece splicing device provided in one embodiment of the present application;

[0045] Fig. 9 is a structural schematic diagram of a workpiece splicing device provided in another embodiment of the present application;

[0046] Fig.10 It is a structural schematic diagram of a processing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following Figures 1 to 10 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0049] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0050] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0051] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0052] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0053] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0054] The embodiment of the present application provides a workpiece splicing method, which can be applied to the splicing of automobile door rings, and can also be applied to the splicing of vehicle frames, shelves, etc. The embodiment of the present application is described by taking an automobile door ring as an example.

[0055] Figure 1 Schematic diagram of the process of the workpiece splicing method provided by an embodiment of the present application. Figure 1 The workpiece splicing method provided in the embodiment of the present application includes steps A1 to A3.

[0056] Step A1: Acquire images of multiple workpieces.

[0057] Figure 2 Schematic diagram of the structure of the automobile door ring involved in the workpiece splicing method provided in one embodiment of the present application. Figure 2 The automobile door knocker 100 comprises a plurality of sub-components 101, which are the aforementioned workpieces. The plurality of workpieces can be assembled into a component (such as an automobile door knocker).

[0058] The image of each workpiece 101 can be obtained by photographing with a camera or directly read from a memory. The image of each workpiece included in one automobile door ring can be photographed by one camera, or the image of each workpiece included in multiple automobile door rings can be photographed simultaneously by multiple cameras (the number of cameras is matched as needed to be able to capture the position and angle of each workpiece).

[0059] Step A2: Determine the position difference and angle difference of each workpiece according to the aforementioned image, the target position and the target angle of each workpiece.

[0060] The aforementioned position difference is the difference between the current position of the workpiece and the target position. The aforementioned angle difference is the difference between the current angle of the workpiece and the target angle. The target position may be the ideal splicing position or the currently allowed splicing position of the workpiece, and the target angle may be the ideal splicing angle or the allowed splicing angle of the workpiece.

[0061] The current position and current angle of each workpiece can be determined from the aforementioned images, and combined with the target position and target angle of each workpiece, the position difference and angle difference of each workpiece can be determined.

[0062] For example, the angle difference between each workpiece and the target angle is determined by visual algorithms (such as shape matching, edge detection, etc.); the ideal splicing position of each component is Pidea, and its corresponding target angle is θidea, the actual detected workpiece position is Pactual, and its corresponding angle is θactual, then the angle difference Δθ=θactual-θidea.

[0063] For example, the position difference between the position of the feature point (such as the inflection point) of each workpiece and the ideal stitching position of the corresponding workpiece in the template is calculated by a visual algorithm, and the position difference may include an X coordinate difference and a Y coordinate difference; the ideal stitching position of each workpiece is (X, Y) ideal, and the actually detected workpiece position is (X, Y) actual, then the X coordinate difference ΔX = Xactual-Xideal, and the Y coordinate difference ΔY = Yactual-Yideal.

[0064] Step A3: adjusting the position and angle of each workpiece according to the position difference and the angle difference to splice the workpieces.

[0065] The position difference and angle difference of each workpiece determine the amount of adjustment required for the position and angle of each workpiece. The larger the position difference, the larger the amount of adjustment required for the position of the workpiece; the smaller the position difference, the smaller the amount of adjustment required for the position of the workpiece. The larger the angle difference, the larger the amount of adjustment required for the angle of the workpiece; the smaller the angle difference, the smaller the amount of adjustment required for the angle of the workpiece.

[0066] It should be understood that the position difference may include the amount of movement and the direction of movement. The angle difference may include the amount of rotation and the direction of rotation. For example, the position difference may be positive or negative, the value being the amount of movement and the positive or negative being the direction of movement; the angle difference may be positive or negative, the value being the amount of movement and the positive or negative being the direction of movement.

[0067] The purpose of adjusting the position and angle of each workpiece is to make the position of the workpiece coincide with the target position or as close to the target position as possible, and to make the angle of the workpiece coincide with the target angle or as close to the target angle as possible.

[0068] Specifically, if the aforementioned |Δθ|>preset angle threshold, an adjustment instruction is sent to adjust the angle of each workpiece; if the aforementioned |Δθ|<preset angle threshold, an OK instruction is sent. If |ΔX| or |ΔY|>preset position threshold, an adjustment instruction is sent to adjust the position of each workpiece, otherwise an OK instruction is sent.

[0069] According to the above content, it can be seen that by acquiring images of multiple workpieces, determining the position difference and angle difference of each workpiece based on the aforementioned images, the target position and target angle of each workpiece, and adjusting the position and angle of each workpiece based on the position difference and angle difference to splice the workpieces, automatic splicing of workpieces can be achieved, batch splicing of workpieces can be achieved, and production efficiency can be improved.

[0070] Figure 3 is a flow chart of a workpiece splicing method provided by another embodiment of the present application. Figure 3 Before acquiring images of a plurality of workpieces, the workpiece stitching method may further include step B1.

[0071] Step B1, fixing each workpiece by adsorption assembly.

[0072] The adsorption component is used to position each workpiece, and can be a magnetic adsorption component or a vacuum adsorption component.

[0073] Fixing each workpiece by adsorption can quickly fix and release each workpiece. The number and position of adsorption components can be adjusted according to project requirements, which can adapt to the fixing requirements of different workpieces and flexibly respond to diversified production needs.

[0074] In actual applications, the adsorption component waits for materials at the loading position, and the loading system delivers each workpiece (such as a door ring component) to the adsorption component. The adsorption component fixes each workpiece to prevent the workpieces waiting for adjustment or completing adjustment from moving.

[0075] Multiple adsorption components plus rivets form a flexible clamp, which is more flexible.

[0076] Figure 4 1 is a flow chart of step A2 of a workpiece splicing method provided in an embodiment of the present application. Figure 4The above-mentioned step A2 (determining the position difference and angle difference of each workpiece based on the above-mentioned image, the target position and the target angle of each workpiece) specifically includes step A21 and step A22.

[0077] Step A21: Identify the corners and seams of each workpiece from each image.

[0078] The corners of the workpieces are used to determine the position difference. The joint seam of the workpieces is the seam between two workpieces (such as a welding seam or a bonding seam) and is used to determine the angle difference.

[0079] Specifically, one set of cameras can be used to identify the corners of the workpiece, and another set of cameras can be used to identify the seams of the workpiece, so that the corners and seams of the workpiece can be identified at the same time, which can improve efficiency. Of course, only one set of cameras can be used to identify both the corners and the seams of the workpiece.

[0080] Step A22: Determine the position difference and angle difference of each workpiece according to the corner, the joint seam, the target position and the target angle of each workpiece.

[0081] After obtaining the corners and joints of the workpieces, the position difference and angle difference of each workpiece can be determined in combination with the target position and target angle of each workpiece.

[0082] The camera detects the corners to obtain the position where the workpiece should be adjusted (i.e. the current position of the workpiece), determines the position difference in combination with the target position of the workpiece, and judges it with the preset position threshold and sends the position difference flag to adjust the position of the workpiece.

[0083] The camera detects the joint seam to obtain the angle that the workpiece should be adjusted to (i.e., the current angle of the workpiece), determines the angle difference based on the target angle of the workpiece, and judges it against the preset angle threshold and sends the angle difference flag to adjust the angle of the workpiece.

[0084] The corners and seams of workpieces are relatively prominent features of the workpieces. By identifying the corners and seams of each workpiece, the position difference and angle difference of each workpiece can be determined. This is easy to implement, can increase the calculation speed, and can improve production efficiency.

[0085] The step A3 of adjusting the position and angle of each workpiece according to the position difference and the angle difference specifically includes: first adjusting the angle of each workpiece according to the angle difference, and then adjusting the position of each workpiece according to the position difference.

[0086] The angle of each workpiece is gradually corrected according to the angle difference to make it consistent with the angle of the well-joined workpiece (i.e., the target angle). After the adjustment is completed, take pictures, make judgments, and make adjustments until the angles of all workpieces are adjusted to within the preset angle threshold range.

[0087] After the angle adjustment is completed, an image of each workpiece after the angle adjustment is completed is acquired to determine the position difference and adjust the position of each workpiece.

[0088] Since the adjustment of the angle has a greater impact on the position, by adjusting the angle of each workpiece first and then adjusting the position of each workpiece, it is possible to avoid changes in the adjusted position when adjusting the angle, and to avoid interference between workpieces caused by adjusting the angle when the space between the workpieces is small. This can increase the splicing speed, further improve production efficiency and improve accuracy.

[0089] The adjusting of the positions of the workpieces in the above step A3 specifically includes: first adjusting the position of the workpiece located in the middle, and then adjusting the positions of the remaining workpieces.

[0090] Since the workpiece located in the middle of all workpieces is easily squeezed in multiple directions, adjusting the position of the workpiece located in the middle first and then adjusting the positions of the remaining workpieces can avoid collisions between the workpieces and mutual interference between the workpieces during the adjustment process, which can further improve the splicing speed and production efficiency.

[0091] Then gradually adjust the positions of the remaining workpieces to ensure that all workpieces are accurately positioned. It should be understood that if the camera is a 2D (two-dimensional) camera and no distortion correction algorithm is added, the angle detected at the edge may be significantly different from the actual result. In order to avoid this situation, it is necessary to adjust the positions of the remaining workpieces in this step and leave some space, and then make another angle adjustment (specifically, redetermine the angle difference of each workpiece as in steps A1 to A3 and adjust the angle of each workpiece according to the angle difference), and then make another position adjustment (specifically, redetermine the position difference of each workpiece as in steps A1 to A3 and adjust the position of each workpiece according to the position difference) to improve the adjustment accuracy, which can further improve the stitching accuracy.

[0092] The adjusting of the position and angle of each workpiece in the above step A3 specifically includes: adjusting the position and angle of each workpiece by using multiple sets of motion axes.

[0093] The motion axis includes the moving axis and the rotating axis. The moving axis is used to adjust the position of the workpiece. The rotating axis is used to adjust the angle of the workpiece.

[0094] The movement axis may include an X-axis direction movement axis and a Y-axis direction movement axis.

[0095] Each set of motion axes includes at least one rotation axis, at least one X-axis moving axis and at least one Y-axis moving axis, so that both the position and the angle of the workpiece can be adjusted.

[0096] By using multiple cameras to capture images of multiple workpieces and then using multiple sets of motion axes to adjust the position and angle of each workpiece, the position and angle of multiple sets of workpieces can be adjusted simultaneously, thereby improving production efficiency.

[0097] Taking images of workpieces with a camera involves camera calibration, and the specific calibration process is as follows.

[0098] Fix the workpieces that have been spliced. For example, a group of workpieces are placed on n flexible fixtures and manually spliced ​​as a template, and the adsorption components are opened and the approximate positions of each workpiece on the fixture are fixed with rivets.

[0099] Determine the camera position. Ensure that the camera's pixel coordinates are consistent with the coordinates of the motion axis, which helps determine the position difference and angle difference for adjustment.

[0100] Calibrate the camera. Calibrate the accuracy of the motion axis and the camera pixel accuracy to ensure the consistency of subsequent camera and motion axis instructions. Specifically, you can use a calibration board to perform multiple calibrations to ensure consistency of accuracy.

[0101] Initial positioning. The magnetic device needs to be released for the first use, and a group of workpieces can be placed by the on-site staff. After the placement is completed, the initial positioning is performed in the visual software, and the position and angle after the placement are recorded. The position and angle are the target position and current angle, which are used to determine the data that needs to be adjusted.

[0102] Figure 5 is a flow chart of a workpiece splicing method provided by another embodiment of the present application. Figure 5 The above workpiece splicing method may further include step C1 and step C2.

[0103] Step C1, determining a target joint seam corresponding to a target workpiece.

[0104] In some occasions, it is necessary to freely adjust the splicing seams between workpieces. For example, after completing the adjustment of the position and angle of the workpiece, the splicing seams need to be adjusted to fill materials (such as welding wire). The splicing seam that needs to be adjusted is the target splicing seam, and the target splicing seam corresponds to the target workpiece, that is, the splicing seam between the target workpieces is the target splicing seam.

[0105] Step C2: adjusting the position of the target workpiece in a direction perpendicular to the target joint seam and away from the workpieces next to the target workpiece to change the size of the target joint seam.

[0106] In some cases, the joints between workpieces need to be freely adjusted to meet various needs. If you want to leave a gap between the workpieces, it is best to adjust in a direction perpendicular to the joint and away from the adjacent workpiece. Therefore, two vectors perpendicular to the joint can be made at the rotation center of the workpiece, with the direction away from the adjacent workpiece and the magnitude of both being 1. The new vector obtained from these two vectors is the adjustment direction, the angle can be derived from the angle of the joint, and the position size can be adjusted according to the needs.

[0107] For example, assuming that the target workpiece has been adjusted to the target position (X, Y) idea, and the new target position is set to (X, Y) idea2, by calculating the position difference between the two positions (such as ΔX and ΔY), the size of the position that needs to be adjusted can be determined.

[0108] The workpiece splicing method provided in the embodiment of the present application uses multiple cameras and multiple groups of motion axes (each group of motion axes includes a rotation axis and a pair of mobile axes) combined with visual algorithms to perform angle and position calculations to achieve high-precision automated positioning and splicing of each workpiece. It can not only improve production efficiency and quality, but also has high flexibility and safety, and can adapt to the needs of modern manufacturing. The automation system has high precision, can reduce human errors, can adjust multiple workpieces at the same time, and shorten the adjustment time.

[0109] An embodiment of the present application further provides a workpiece welding method, which includes the workpiece splicing method provided in any of the above embodiments, and includes welding each workpiece.

[0110] After the positions and angles of the workpieces are adjusted to the desired position by the workpiece splicing method provided in any of the above embodiments, the welding operation is performed. For example, after the positions and angles of the workpieces are adjusted, the welding equipment is started to complete the welding operation of the workpieces; then the unloading is performed, and the components are adsorbed to the loading position to wait for new workpieces.

[0111] The workpiece welding method provided in the embodiment of the present application can realize automated welding, has a stable process, can reduce the defective rate, can reduce manual operation, can reduce the labor intensity and operation risks of workers, can ensure the consistency of welding quality through real-time monitoring and adjustment by the visual system, can improve production safety, and is a fully automatic flexible welding method based on 2D camera positioning.

[0112] Corresponding to the method described in the above embodiment, Figure 6 A structural block diagram of a workpiece splicing device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0113] refer to Figure 6 The workpiece splicing device includes an image acquisition module 1A, a difference determination module 2A, and an adjustment module 3A.

[0114] The image acquisition module 1A is used to acquire images of a plurality of workpieces.

[0115] The difference determination module 2A is used to determine the position difference and angle difference of each workpiece according to the aforementioned image, the target position and the target angle of each workpiece.

[0116] The adjustment module 3A is used to adjust the position and angle of each workpiece according to the position difference and the angle difference so as to splice the workpieces.

[0117] Figure 7 Schematic diagram of the structure of a workpiece splicing device provided by another embodiment of the present application. Figure 7 The above-mentioned workpiece splicing device may further include an adsorption module 1B.

[0118] The adsorption module 1B is used to fix each workpiece.

[0119] The adsorption module 1B includes the aforementioned adsorption assembly.

[0120] Figure 8 is a structural diagram of a difference determination module of a workpiece splicing device provided in an embodiment of the present application. Figure 8 The above-mentioned difference determination module 2A may include an identification submodule 21A and a difference operation submodule 22A.

[0121] The recognition submodule 21A is used to recognize the corners and joint seams of each workpiece from each image.

[0122] The difference operation submodule 22A is used to determine the position difference and angle difference of each workpiece according to the corner, the joint seam, the target position and the target angle of each workpiece.

[0123] Fig. 9 Schematic diagram of the structure of a workpiece splicing device provided by another embodiment of the present application. Fig. 9 The above-mentioned workpiece splicing device may also include a target determination module 1C and a free adjustment module 2C.

[0124] The target determination module 1C is used to determine a target joint seam corresponding to a target workpiece.

[0125] The free adjustment module 2C is used to adjust the position of the target workpiece along a direction perpendicular to the target joint seam and away from the workpieces next to the target workpiece, so as to change the size of the target joint seam.

[0126] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0127] Fig.10 This is a schematic diagram of the structure of a processing device provided in one embodiment of the present application. Fig.10 As shown, the processing device 10 of this embodiment includes: at least one processor 100 ( Fig.10 Only one is shown in the figure), a memory 101, and a computer program 102 stored in the memory 101 and executable on at least one processor 100; when the processor 100 executes the computer program 102, the steps in the above-mentioned method embodiments are implemented.

[0128] The processing equipment may include, but is not limited to, a processor 100 and a memory 101. Those skilled in the art will appreciate that Fig.10 It is only an example of processing equipment and does not constitute a limitation of the processing equipment. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access equipment, buses, etc.

[0129] The processor 100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0130] In some embodiments, the memory 101 may be an internal storage unit of the processing device 10, such as a hard disk or memory of the processing device. In other embodiments, the memory 101 may also be an external storage device of the processing device, such as a plug-in hard disk equipped on the processing device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 101 may also include both an internal storage unit of the processing device and an external storage device. The memory 101 is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs, such as program codes of a computer program, etc. The memory 101 may also be used to temporarily store data that has been output or is to be output.

[0131] Exemplarily, the computer program 102 may be divided into one or more modules / units, one or more modules / units are stored in the memory 101, and are executed by the processor 100 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 102 in the processing device 10.

[0132] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0133] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0134] If the aforementioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium; when the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media include: any entity or device that can carry computer program code to a device / terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0135] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0136] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned various method embodiments.

[0137] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0138] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0139] In the embodiments provided in the present application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are merely schematic, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0140] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0141] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A workpiece splicing method, characterized in that: include: Acquire images of multiple workpieces; Determining the position difference and angle difference of each of the workpieces according to the image, the target position and the target angle of each of the workpieces; According to the position difference and the angle difference, the position and angle of each of the workpieces are adjusted to splice the workpieces.

2. The workpiece splicing method according to claim 1, characterized in that: The step of adjusting the position and angle of each of the workpieces according to the position difference and the angle difference comprises: Firstly, the angle of each of the workpieces is adjusted according to the angle difference, and then the position of each of the workpieces is adjusted according to the position difference.

3. The workpiece splicing method according to claim 2, characterized in that: The step of adjusting the position of each workpiece comprises: The position of the workpiece located in the middle is adjusted first, and then the positions of the remaining workpieces are adjusted.

4. The workpiece splicing method according to claim 3, characterized in that: The re-adjusting the position of the remaining workpiece comprises: Adjust the positions of the remaining workpieces and leave some space, make another angle adjustment, and then make another position adjustment.

5. The workpiece splicing method according to claim 1, characterized in that: Determining the position difference and angle difference of each workpiece according to the image, the target position and the target angle of each workpiece includes: Identify corners and seams of each of the workpieces from each of the images; The position difference and angle difference of each of the workpieces are determined according to the corner, the joint seam, the target position and the target angle of each of the workpieces.

6. The workpiece splicing method according to claim 1, characterized in that: The step of acquiring images of a plurality of workpieces comprises: Taking images of a plurality of workpieces by a plurality of cameras; The adjusting the position and angle of each workpiece comprises: The position and angle of each of the workpieces are adjusted through multiple sets of motion axes.

7. The workpiece splicing method according to any one of claims 1 to 6, characterized in that: The workpiece splicing method also includes: determining a target joint seam corresponding to a target workpiece; The position of the target workpiece is adjusted along a direction perpendicular to the target joint seam and away from the workpiece next to the target workpiece to change the size of the target joint seam.

8. A workpiece splicing device, characterized in that: include: An image acquisition module is used to: acquire images of multiple workpieces; A difference determination module, used to determine the position difference and angle difference of each of the workpieces according to the image, the target position and the target angle of each of the workpieces; The adjustment module is used to adjust the position and angle of each of the workpieces according to the position difference and the angle difference to splice the workpieces.

9. A processing equipment, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the workpiece splicing method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the workpiece splicing method according to any one of claims 1 to 7 is implemented.

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