Method for reusing process configuration between devices based on dual-camera positioning

Abstract

The invention discloses a method for reusing process configurations between devices based on dual-camera positioning. The devices include an upper camera, a lower camera, a manipulator module, a robot module, and a TCP calibration / measurement system. The method comprises the following steps: a master device performs point teaching of the manipulator module and the robot module, calibrates the upper camera and the lower camera to produce a visual template, and obtains the process configuration of the master device; copies the process configuration of the master device to a slave device for loading; adjusts the ratio of the upper camera and the lower camera of the slave device to be consistent with that of the master device; identifies the positions of the material taking position and the material discharge position of the master device and the slave device respectively through the TCP calibration / measurement system; calculates a position deviation value based on the position difference between the material taking position and the material discharge position of the master device and the slave device, and compensates the position deviation value to the slave device; eliminates mechanical installation errors between devices through dual-camera calibration, and realizes plug-and-play of parameters across devices through TCP dynamic calibration compensation, thereby shortening debugging time.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment reuse, and in particular to a method for reusing process configurations between equipment based on dual-camera positioning. Background Art

[0002] In automated production lines with extremely high precision requirements, such as electronics manufacturing and semiconductor packaging, even equipment of the same model must be independently configured with a series of key process parameters based on its own characteristics. These parameters cover multiple dimensions, such as the visual positioning coordinates corresponding to the material number, the robot arm's motion trajectory, the welding temperature curve, and the material transmission speed. These parameters directly affect the production quality and efficiency of the product. Since each device will inevitably have slight differences during the production, installation, and long-term operation, it is impossible to simply apply a unified parameter standard and targeted configuration is necessary.

[0003] The mainstream solutions to this problem in the current industry include manual teaching and debugging of each device and direct copying and reusing parameters. Manual teaching and debugging of each device is a more traditional method. Technicians need to observe with the naked eye and use tools such as teaching pendants to gradually calibrate the equipment parameters. The debugging of a single device often takes 2-4 hours. Not only is it time-consuming, but the labor cost accounts for more than 30% of the total cost of production line operation and maintenance, which greatly increases the burden of production operations. The method of directly copying and reusing parameters to slave devices seems to be efficient, but it ignores the objective differences between devices: first, the mechanical structure has a tolerance of ±0.3-0.8mm, second, the camera installation has a ±0.5° deflection angle, and the other TCP (Tool Center Point) suffers from zero-point drift, among other factors. These factors directly lead to a positioning failure rate exceeding 60%, severely impacting production stability. The two methods share even more prominent flaws: First, positioning accuracy is insufficient. Mechanical installation errors of more than ±0.5mm between devices will render directly copied parameters completely invalid. Second, there is a lack of an effective error compensation mechanism. The existing system lacks an inter-device coordinate system mapping module, making it impossible to accurately correct discrepancies. Third, there is a large amount of repetitive work. Each device needs to re-execute the entire debugging process, including manual ratio adjustment, point teaching, and visual template creation. This wastes manpower and makes it difficult to ensure consistency. Summary of the Invention

[0004] In view of this, the present invention proposes a method for reusing process configurations between devices based on dual-camera positioning, which can realize the reuse of process configurations between devices of the same model, shorten the debugging time, reduce the burden on technical personnel, avoid duplication of work, and enable the equipment to be put into production quickly.

[0005] The technical solution of the present invention is achieved as follows:

[0006] A method for reusing process configurations between devices based on dual-camera positioning, wherein the device includes an upper camera, a lower camera, a manipulator module, a robot module, and a TCP calibration / measurement system. The TCP calibration / measurement system is provided on the manipulator module or the robot module's robotic arm. The specific steps of the reuse method include:

[0007] Step S1: The main equipment performs position teaching of the manipulator module and the robot module, and calibrates the upper camera and the lower camera to create a visual template and obtain the process configuration of the main equipment;

[0008] Step S2: copy the process configuration of the master device to the slave device for loading;

[0009] Step S3: Adjust the ratio of the upper camera to the lower camera of the slave device to be consistent with the ratio of the upper camera to the lower camera of the master device;

[0010] Step S4: Identify the material taking position and material discharging position of the master device and the slave device respectively through the TCP calibration / measurement system;

[0011] Step S5: Calculate a position deviation value based on the position difference between the material taking position and the material discharging position of the master device and the slave device, and compensate the position deviation value to the slave device.

[0012] Preferably, the calibration of the upper camera and the lower camera in step S1 includes calibrating the rotation center, the camera ratio and the coordinate system direction.

[0013] Preferably, the upper camera is used for performing coarse visual positioning, and the lower camera is used for performing fine visual positioning.

[0014] Preferably, the specific steps of step S3 include:

[0015] Control the robot module of the device to pick up a calibration plate and move it to the photo taking position of the upper or lower camera;

[0016] The camera is translated 5 mm in the X direction, and the changes in pixel coordinates are recorded and calculated to obtain the coordinate difference. The camera ratio is then obtained based on the coordinate difference.

[0017] comparing the camera ratio with the standard ratio to obtain a first ratio difference, and determining whether the first ratio difference is within a preset range;

[0018] If the first ratio difference is not within the preset range, the robot module is controlled to descend 0.1 mm in the Z-axis direction and translate 5 mm in the X-axis direction, and the difference between the new camera ratio and the standard ratio is calculated to obtain the second ratio difference;

[0019] If the second ratio difference is less than the first ratio difference, the robot continues to descend 0.1mm in the Z-axis direction. Otherwise, after ascending 0.1mm in the Z-axis direction, it translates 5mm in the X-axis direction to calculate the ratio.

[0020] If the new ratio is closer to the standard ratio, continue to move 0.1mm according to the previous Z-axis movement direction. If the new ratio is further away from the standard ratio, control the robot module to move 0.1mm after reversing the previous Z-axis movement direction and 5mm in the X-axis direction before recalculating the ratio.

[0021] When the difference between the calculated ratio and the standard ratio is within a preset range, calibration is completed.

[0022] Preferably, the standard ratio is the ratio of the upper camera and the lower camera of the main device after calibration.

[0023] Preferably, the preset range is 0.001 mm.

[0024] Preferably, the material discharge position of the manipulator module, the material taking position and the material discharge position of the robot module are all provided with a plurality of positioning columns.

[0025] Preferably, the TCP calibration / measurement system includes a switch sensor with orthogonal beamforming, which determines the coordinates and angles of the center points of the material taking and material discharging positions by identifying the coordinates of the positioning columns of the material taking and material discharging positions.

[0026] Preferably, the specific steps of step S4 are:

[0027] Step S41: Move the positioning post to the second quadrant of the TCP calibration / measurement system as the initial reference point, then move it from the second quadrant to the first quadrant, and read the positions of the positioning post when it hits the G-ray and leaves the G-ray, which are recorded as A1 and A2 respectively;

[0028] Step S42: Move from the first quadrant to the third quadrant, and from the third quadrant to the fourth quadrant, and read the positions of the positioning column when it hits the G-ray and leaves the G-ray, which are recorded as A3 and A4 respectively;

[0029] Step S43: Calculate the midpoint of the line connecting A1 and A2 based on the coordinates of A1 and A2 to obtain the first center point of the Y-ray; calculate the midpoint of the line connecting A3 and A4 based on the coordinates of A3 and A4 to obtain the second center point of the Y-ray;

[0030] Step S44: Calculate the midpoint of the line connecting the first and second center points and the angle of the line between the two points, and record the angle of the line as R1;

[0031] Step S45: Rotate the robot arm by R1 so that the XY ray of the TCP calibration / measurement system is parallel to the XY axis of the robot arm. Then, move the robot arm to the vicinity of the first positioning post, re-execute step S41, and calculate the third center point of the Y ray.

[0032] Step S46: Move the robotic arm to the third center point of the Y-ray, then move in the negative direction of the Y-axis coordinate, record the positions where it encounters the X-ray and leaves the X-ray, denoted as B1 and B2, and output the center coordinates of the line connecting points B1 and B2 as the center point of the first positioning column;

[0033] Step S47: Move the robotic arm to the vicinity of the second positioning post, and repeat steps S45-S46 to obtain the center point of the second positioning post;

[0034] Step S48: Obtain the midpoint coordinates and angle of the line connecting the center point of the first positioning column and the center point of the second positioning column, and record the midpoint coordinates and angle as the center point coordinates and angle of the material taking position or the material discharging position.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] ① Using dual-camera joint calibration, by synchronously capturing the imaging features of the same target in the fields of view of two cameras, an accurate spatial coordinate transformation model is constructed. This can effectively eliminate the inevitable cumulative errors such as lens distortion and installation angle in single-camera calibration, significantly improving the positioning accuracy of the device from the traditional ±0.5mm to ±0.05mm, a direct 10-fold increase in accuracy.

[0037] ② TCP calibration and compensation technology is used to dynamically calibrate the tool center point of each device, accurately calculating and storing the offset and rotation angle of the coordinate systems between different devices. By pre-setting the compensation algorithm in the system, the process parameters of the master device can be automatically converted into coordinate data for the slave device in real time, eliminating coordinate system differences between devices caused by mechanical tolerances, installation errors, etc., achieving plug-and-play of process parameters and significantly shortening the debugging cycle when changing equipment or expanding capacity;

[0038] ③ Utilizing the dual-camera dynamic closed-loop self-adjustment mechanism and cross-validating image data collected in real time by the two cameras, the system can automatically identify pixel ratio offsets caused by environmental changes or device differences, and automatically correct the camera ratio parameters based on a preset reference template and dynamic compensation algorithm without manual intervention. This not only avoids the tedious operation of repeatedly adjusting the camera ratio in traditional methods, but also automatically updates the adaptation parameters of the visual template, ensuring that the template matching accuracy is always stable, reducing the manual debugging workload by more than 90%. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only preferred embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 This is a flow chart of the method for multiplexing process configurations between devices based on dual-camera positioning of the present invention;

[0041] Figure 2 Schematic diagram of the structure of the TCP calibration / measurement system of the device process configuration multiplexing method based on dual-camera positioning of the present invention. DETAILED DESCRIPTION

[0042] In order to better understand the technical content of the present invention, a specific embodiment is provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0043] See also Figure 1 The present invention provides a method for reusing process configurations between devices based on dual-camera positioning. The device includes an upper camera, a lower camera, a manipulator module, a robot module, and a TCP calibration / measurement system. The TCP calibration / measurement system is provided on the manipulator module or the robot module's mechanical arm. The specific steps of the reuse method include:

[0044] Step S1: The main equipment performs position teaching of the manipulator module and the robot module, and calibrates the upper camera and the lower camera to create a visual template and obtain the process configuration of the main equipment;

[0045] Step S2: copy the process configuration of the master device to the slave device for loading;

[0046] Step S3: Adjust the ratio of the upper camera to the lower camera of the slave device to be consistent with the ratio of the upper camera to the lower camera of the master device;

[0047] Step S4: Identify the material taking position and material discharging position of the master device and the slave device respectively through the TCP calibration / measurement system;

[0048] Step S5: Calculate a position deviation value based on the position difference between the material taking position and the material discharging position of the master device and the slave device, and compensate the position deviation value to the slave device.

[0049] The present invention provides a method for reusing process configurations between devices based on dual-camera positioning. The purpose is to achieve reuse of process parameter configurations between devices of the same model, ensuring that the installation error of each axis of each device is within 5 mm. The reuse process does not require manual participation, avoids duplication of work, shortens debugging time, reduces the burden on technical personnel, and enables the equipment to be quickly put into production. The master device and the slave device are devices of the same model, both including an upper camera, a lower camera, a manipulator module, a robot module, and a TCP calibration / measurement system. The robot module is a segmented card robot module that loads the material into the online machine. Therefore, the reuse of process configurations mainly involves calibrating the discharge position of the manipulator module and the picking and discharge positions of the robot module. To achieve the calibration function, a TCP calibration / measurement system is introduced and installed on the manipulator module or the robot module's mechanical arm to achieve position recognition of the picking and discharge positions. Then, a position deviation value is calculated based on the specific positions and differences of the picking and discharge positions between the master device and the slave device. Finally, after the position deviation value is compensated to the slave device, the slave device can directly and accurately operate, achieving plug-and-play of process configuration parameters across devices and significantly shortening debugging time.

[0050] Before reusing the process configuration, it is necessary to first obtain the process configuration of the main equipment. After performing point teaching of the manipulator module and the robot module, and calibrating the upper and lower cameras to create a visual template, the process configuration can be obtained. The upper camera is used for coarse visual positioning, and the lower camera is used for fine visual positioning. The upper and lower cameras use Hikvision cameras to ensure that the equipment itself can meet production needs. At the same time, the upper and lower cameras have the function of automatically adjusting the camera ratio, unifying the ratio of all equipment, and ensuring stable recognition of visual templates. By introducing the dual-camera dynamic closed-loop self-adjustment of the camera ratio, manual repeated adjustment of the camera ratio and template creation can be avoided, duplication of work can be avoided, and equipment reuse efficiency can be improved.

[0051] Preferably, the calibration of the upper camera and the lower camera in step S1 includes calibrating the rotation center, the camera ratio and the coordinate system direction.

[0052] The process configuration of the main equipment includes the corresponding visual template. Before making the standard visual template, the upper and lower cameras need to be calibrated, including the rotation center, camera ratio, and coordinate system direction, so as to eliminate camera lens distortion, determine the internal and external parameters of the camera, and clarify the conversion relationship between the camera coordinate system and the external coordinate system.

[0053] Preferably, the specific steps of step S3 include:

[0054] Control the robot module of the device to pick up a calibration plate and move it to the photo taking position of the upper or lower camera;

[0055] The camera is translated 5 mm in the X direction, and the changes in pixel coordinates are recorded and calculated to obtain the coordinate difference. The camera ratio is then obtained based on the coordinate difference.

[0056] Comparing the camera ratio with the standard ratio to obtain a first ratio difference, and determining whether the first ratio difference is within a preset range, the preset range being 0.001 mm;

[0057] If the first ratio difference is not within the preset range, the robot module is controlled to descend 0.1 mm in the Z-axis direction and translate 5 mm in the X-axis direction, and the difference between the new camera ratio and the standard ratio is calculated to obtain the second ratio difference;

[0058] If the second ratio difference is less than the first ratio difference, the robot continues to descend 0.1mm in the Z-axis direction. Otherwise, after ascending 0.1mm in the Z-axis direction, it translates 5mm in the X-axis direction to calculate the ratio.

[0059] If the new ratio is closer to the standard ratio, continue to move 0.1mm according to the previous Z-axis movement direction. If the new ratio is further away from the standard ratio, control the robot module to move 0.1mm after reversing the previous Z-axis movement direction and 5mm in the X-axis direction before recalculating the ratio.

[0060] When the difference between the calculated ratio and the standard ratio is within a preset range, calibration is completed.

[0061] Before calibrating the specific positions of the material picking position and the material discharging position, it is necessary to adjust the ratio of the upper camera and the lower camera of the slave device. The present invention can reduce the number of times of manual repeated adjustment of the ratio and reduce repetitive work by automatically adjusting the ratio. The ratio of the upper camera and the lower camera of the master device after calibration is used as the standard ratio, and the ratio of the upper camera and the lower camera of the slave device can be adjusted to be close to the standard ratio. When making adjustments, first suck up a calibration plate or product through the robot module, move it to the shooting position of the upper camera and the lower camera, and take pictures to obtain the initial picture of the calibration plate or product. Then, the calibration plate or product is driven by the robot module to move 5mm along the X-axis, and the changes in pixel coordinates compared with the initial picture are recorded. Based on the changes in pixel coordinates, the coordinate difference can be obtained to obtain the current camera ratio. After comparing the current camera ratio with the standard ratio, a first ratio difference can be obtained to determine whether the first ratio difference is within the preset 0.001mm. If so, it is explained If the camera ratio of the slave device is close to the standard ratio, but the conditions are not met, the robot module can be controlled to drop 0.1mm and translate 5mm along the X axis at the same time. At this time, the new ratio and the second ratio difference can be calculated. If the new ratio is closer to the standard ratio than the previously calculated ratio, continue to drop 0.1mm until the preset range of 0.001mm is met. If it is not close to the standard ratio, the robot module is controlled to rise 0.1mm, and after restoring the previous drop operation, it is translated 5mm on the X axis again. The new ratio can also be calculated. If the new ratio is closer to the standard ratio at this time, it can continue to move 0.1mm in the Z direction of the previous movement and calculate the new ratio. If the new ratio is far away from the standard ratio, the robot module is controlled to move 0.1mm in the opposite Z direction and 5mm in the X direction at the same time, and the ratio is recalculated until the calculated ratio is within 0.001mm of the standard ratio, and the calibration is completed.

[0062] Preferably, the material discharge position of the manipulator module, the material picking position and the material discharge position of the robot module are all provided with a number of positioning columns, and the TCP calibration / measurement system includes a switch sensor with orthogonal reflection, which determines the center point coordinates and angles of the material picking position and the material discharge position by identifying the coordinates of the positioning columns of the material picking position and the material discharge position.

[0063] Each material taking position and material discharging position is equipped with two positioning columns. The brand of TCP calibration / measurement system is Anyouce, model is TCP-3D, which is a switch sensor with orthogonal beam, such as Figure 2As shown, it includes a pair of light emitters and receivers arranged along the X and Y axis directions, which can generate X-rays and Y-rays, thereby forming a light plane parallel to the X and Y axes, which is used to detect the position of the object in the X and Y directions. By calibrating the coordinates of the two positioning columns, the center point coordinates and angles of each material loading and unloading position can be known, so that the position deviation value between the slave device and the master device can be obtained to facilitate compensation of the slave device.

[0064] Preferably, the specific steps of step S4 are:

[0065] Step S41: Move the positioning post to the second quadrant of the TCP calibration / measurement system as the initial reference point, then move it from the second quadrant to the first quadrant, and read the positions of the positioning post when it just touches the G-ray and just leaves the G-ray, which are recorded as A1 and A2 respectively;

[0066] Step S42: Move from the first quadrant to the third quadrant, read the position of the positioning post when it just hits the X-ray and when it just leaves the X-ray, and move from the third quadrant to the fourth quadrant, read the position of the positioning post when it just hits the Gamma ray and when it just leaves the Gamma ray, record them as A3 and A4 respectively;

[0067] Step S43: Calculate the midpoint of the line connecting A1 and A2 based on the coordinates of A1 and A2 to obtain the first center point of the Y-ray; calculate the midpoint of the line connecting A3 and A4 based on the coordinates of A3 and A4 to obtain the second center point of the Y-ray;

[0068] Step S44: Calculate the midpoint of the line connecting the first and second center points and the angle of the line between the two points, and record the angle of the line as R1;

[0069] Step S45: Rotate the robot arm by R1 so that the XY ray of the TCP calibration / measurement system is parallel to the XY axis of the robot arm. Then, move the robot arm to the vicinity of the first positioning post, re-execute step S41, and calculate the third center point of the Y ray.

[0070] Step S46: Move the robotic arm to the third center point of the Y-ray, then move in the negative direction of the Y-axis coordinate, record the positions where it just touches the X-ray and just leaves the X-ray, denoted as B1 and B2, and output the center coordinates of the line connecting points B1 and B2 as the center point of the first positioning column;

[0071] Step S47: Move the robotic arm to the vicinity of the second positioning post, and repeat steps S45-S46 to obtain the center point of the second positioning post;

[0072] Step S48: Obtain the midpoint coordinates and angle of the line connecting the center point of the first positioning column and the center point of the second positioning column, and record the midpoint coordinates and angle as the center point coordinates and angle of the material taking position or the material discharging position.

[0073] Move the positioning column to the second quadrant as the initial reference point, and then record the position of touching / leaving the X-ray and Y-ray through the movement of the positioning column in the four quadrants. After calculating the straight line angle R1 based on the Y-ray related data, the coordinate system of the TCP calibration / measurement system can be adjusted to be parallel to the coordinate system of the robot arm according to the straight line angle R1 to achieve rough calibration. Then, based on the aligned coordinate system, fine calibration can be performed. First, after recalibrating the center point of the Y-ray, the center point coordinates of the first positioning column and the second positioning column can be calculated respectively. The center points of the first positioning column and the second positioning column are connected. The center point of the connecting line is the center point coordinate of the material picking position or the material discharge position, and the angle of the connecting line is recorded as the angle of the material picking position or the material discharge position. Similarly, the center point coordinates and angles of all material picking positions and material discharge positions can be calculated, and then compared with the center point coordinates and angles of the material discharge position and the material picking position of the master device. After obtaining the position deviation value, the slave device is compensated. The compensated slave device can run directly and accurately.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for reusing process configurations between devices based on dual-camera positioning, characterized in that: The device includes an upper camera, a lower camera, a manipulator module, a robot module, and a TCP calibration / measurement system. The TCP calibration / measurement system is provided on a manipulator module or a manipulator arm of the robot module. The specific steps of the multiplexing method include: Step S1: The main equipment performs position teaching of the manipulator module and the robot module, and calibrates the upper camera and the lower camera to create a visual template and obtain the process configuration of the main equipment; Step S2: copy the process configuration of the master device to the slave device for loading; Step S3: Adjust the ratio of the upper camera to the lower camera of the slave device to be consistent with the ratio of the upper camera to the lower camera of the master device; Step S4: Identify the material taking position and material discharging position of the master device and the slave device respectively through the TCP calibration / measurement system; Step S5: Calculate a position deviation value based on the position difference between the material taking position and the material discharging position of the master device and the slave device, and compensate the position deviation value to the slave device; The material placement position of the manipulator module, the material taking position and the material placement position of the robot module are all provided with a number of positioning columns; The specific steps of step S4 are: Step S41: Move the positioning post to the second quadrant of the TCP calibration / measurement system as the initial reference point, then move it from the second quadrant to the first quadrant, and read the positions of the positioning post when it hits the G-ray and leaves the G-ray, which are recorded as A1 and A2 respectively; Step S42: Move from the first quadrant to the third quadrant, and from the third quadrant to the fourth quadrant, and read the positions of the positioning column when it hits the G-ray and leaves the G-ray, which are recorded as A3 and A4 respectively; Step S43: Calculate the midpoint of the line connecting A1 and A2 based on the coordinates of A1 and A2 to obtain the first center point of the Y-ray; calculate the midpoint of the line connecting A3 and A4 based on the coordinates of A3 and A4 to obtain the second center point of the Y-ray; Step S44: Calculate the midpoint of the line connecting the first and second center points and the angle of the line between the two points, and record the angle of the line as R1; Step S45: Rotate the robot arm by R1 so that the XY ray of the TCP calibration / measurement system is parallel to the XY axis of the robot arm. Then, move the robot arm to the vicinity of the first positioning post, re-execute step S41, and calculate the third center point of the Y ray. Step S46: Move the robotic arm to the third center point of the Y-ray, then move in the negative direction of the Y-axis coordinate, record the positions where it encounters the X-ray and leaves the X-ray, denoted as B1 and B2, and output the center coordinates of the line connecting points B1 and B2 as the center point of the first positioning column; Step S47: Move the robotic arm to the vicinity of the second positioning post, and repeat steps S45-S46 to obtain the center point of the second positioning post; Step S48: Obtain the midpoint coordinates and angle of the line connecting the center point of the first positioning column and the center point of the second positioning column, and record the midpoint coordinates and angle as the center point coordinates and angle of the material taking position or the material discharging position.

2. The method for reusing process configurations between devices based on dual-camera positioning according to claim 1, characterized in that: The calibration of the upper camera and the lower camera in step S1 includes calibrating the rotation center, the camera ratio and the coordinate system direction.

3. The method for reusing process configurations between devices based on dual-camera positioning according to claim 1, characterized in that: The upper camera is used for performing coarse visual positioning, and the lower camera is used for performing fine visual positioning.

4. The method for reusing process configurations between devices based on dual-camera positioning according to claim 1, characterized in that: The specific steps of step S3 include: Control the robot module of the device to pick up a calibration plate and move it to the photo taking position of the upper or lower camera; The camera is translated 5 mm in the X direction, and the changes in pixel coordinates are recorded and calculated to obtain the coordinate difference. The camera ratio is then obtained based on the coordinate difference. comparing the camera ratio with the standard ratio to obtain a first ratio difference, and determining whether the first ratio difference is within a preset range; If the first ratio difference is not within the preset range, the robot module is controlled to descend 0.1 mm in the Z-axis direction and translate 5 mm in the X-axis direction, and the difference between the new camera ratio and the standard ratio is calculated to obtain the second ratio difference; If the second ratio difference is less than the first ratio difference, the robot continues to descend 0.1mm in the Z-axis direction. Otherwise, after ascending 0.1mm in the Z-axis direction, it translates 5mm in the X-axis direction to calculate the ratio. If the new ratio is closer to the standard ratio, continue to move 0.1mm according to the previous Z-axis movement direction. If the new ratio is further away from the standard ratio, control the robot module to move 0.1mm after reversing the previous Z-axis movement direction and 5mm in the X-axis direction before recalculating the ratio. When the difference between the calculated ratio and the standard ratio is within a preset range, calibration is completed.

5. The method for reusing process configurations between devices based on dual-camera positioning according to claim 4, characterized in that: The standard ratio is the ratio of the upper camera and the lower camera of the master device after calibration.

6. The method for reusing process configurations between devices based on dual-camera positioning according to claim 4, characterized in that: The preset range is 0.001 mm.

7. The method for reusing process configurations between devices based on dual-camera positioning according to claim 1, characterized in that: The TCP calibration / measurement system includes a switch sensor with orthogonal beam, which determines the center point coordinates and angles of the material taking and discharge positions by identifying the coordinates of the positioning columns of the material taking and discharge positions.

Images