Visual positioning type optical lens automatic assembling method and system

Abstract

The embodiment of the invention relates to the technical field of optical lens automatic assembly, and particularly discloses a visual positioning type optical lens automatic assembly method and system. According to the embodiment of the invention, a global camera and a micro bureau camera are selected; global assembly monitoring is carried out through a global camera, and a positioning pick-up route is planned; the currently assembled part is picked up and transferred, and micro bureau assembly monitoring is carried out through a micro bureau camera; based on the assembly planning data, planning and positioning an assembly route; and according to the positioning assembly route, alignment assembly is conducted on the current assembly part, and after assembly is completed, assembly verification and processing are conducted. Through cooperative monitoring of the global camera and the micro bureau camera, the current assembly part can be picked, transferred, aligned and assembled, stable and reliable positioning data can be obtained without tedious multi-parameter adjustment of one camera, the complexity of visual positioning is greatly reduced, the automatic assembly period of the optical lens is shortened, and the production efficiency is improved. The production line efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of automatic optical lens assembly technology, and particularly relates to a visual positioning type automatic optical lens assembly method and system. Background Technology

[0002] Automated assembly of optical lenses utilizes automation technologies such as machine vision, precision motion control, pressure and torque feedback, and multi-axis robotic arms to perform a fully automated, unmanned, and high-precision assembly process for multiple precision components in optical lenses (such as lenses, lens barrels, spacers, retaining rings, motor modules, etc.). This ensures the positional accuracy, coaxiality, cleanliness, and stability of the assembly force of the lenses, thereby achieving consistency and reliability in the overall image quality of the lens. Typically, visual positioning technology is used to identify the placement, front and back, and center point of different lenses. Then, a sub-micron level motion platform is used to accurately move the components to the designated assembly position. In addition, dust removal, cleaning, anti-static, and automatic detection are integrated to achieve automated quality inspection after lens assembly, such as MTF testing, coaxiality testing, and appearance inspection.

[0003] In existing technologies, the automatic assembly of vision-positioning optical lenses relies solely on a single high-precision camera for positioning and identification. However, the assembly process of optical lenses typically involves multiple lenses, spacers, lens barrels, and other structures, resulting in complex spatial hierarchy and extremely high precision requirements. To adapt to the differences in each assembly part, a high-precision camera must continuously adjust multiple parameters during use, such as spatial position movement, shooting angle adjustment, focus reset, and light source compensation, in order to obtain stable and reliable positioning data in different assembly steps. Frequent parameter adjustments not only increase the complexity of vision positioning but also make the positioning process lengthy, significantly extending the entire automatic assembly cycle of the optical lens and reducing production line efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a visual positioning type optical lens automatic assembly method and system, which aims to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions: A visual positioning-based automatic assembly method for optical lenses, the method specifically includes the following steps: Perform automatic assembly planning, generate assembly planning data, and select global and micro-local cameras; The global assembly is monitored by the global camera, and the current assembly parts are determined according to the assembly planning data, and a positioning and picking route is planned. According to the positioning and picking route, the currently assembled parts are picked up and transferred, and the micro-assembly is monitored by the micro-camera to obtain micro-monitoring data. Based on the assembly planning data, the micro-area monitoring data is used to identify assembly location and plan the positioning assembly route; According to the positioning and assembly route, the currently assembled parts are aligned and assembled, and after the assembly is completed, assembly verification and processing are performed.

[0006] The present invention also provides a vision-positioning type automatic assembly system for optical lenses, the system comprising: The automatic assembly planning unit is used to perform automatic assembly planning, generate assembly planning data, and select global and micro-local cameras. The global assembly monitoring unit is used to monitor the global assembly through the global camera, and determine the current assembly parts and plan the positioning and picking route according to the assembly planning data. The micro-assembly monitoring unit is used to pick up and transfer the currently assembled parts according to the positioning and picking route, and to monitor the micro-assembly through the micro-camera to obtain micro-monitoring data. An assembly positioning and identification unit is used to perform assembly positioning and identification on the micro-area monitoring data based on the assembly planning data, and to plan the positioning and assembly route. The alignment and assembly verification unit is used to align and assemble the currently assembled parts according to the positioning and assembly route, and to perform assembly verification and processing after the assembly is completed.

[0007] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention systematically extracts the assembly sequence and geometric features of parts from assembly process data, constructs a precise part position mapping and a list of potential interference areas, and further pre-plans the monitoring paths and parameters of global and micro-local cameras. After simulation assembly verification, the final assembly planning data is generated, realizing the visualization and pre-judgment of the entire process before assembly execution. This transforms the traditional passive response relying on on-site debugging into data-driven proactive planning, thereby avoiding assembly conflicts and monitoring blind spots at the source, significantly reducing the uncertainty in the subsequent assembly process, laying a solid foundation for stable and reliable collaborative monitoring of global and micro-local cameras, and effectively shortening the system debugging and assembly cycle.

[0008] 2. This invention achieves comprehensive perception and intelligent response to static and dynamic environments in macro-path planning through global path planning, as well as deep collaboration between robotic arm movement and visual monitoring, ensuring that the parts picking and transferring process is both efficient and smooth and accurately positioned, greatly improving the overall operating efficiency and reliability of the production line.

[0009] 3. This invention utilizes micro-local monitoring data and pre-stored part geometric features for three-dimensional contour analysis and dynamic updating of interference regions at the micro-local scale. It also introduces assembly sequence prediction to identify temporal interference risks and correlates them with globally optimized obstacle avoidance paths to identify micro-local conflict points. Ultimately, it generates a multi-dimensional set of interference spatial regions containing spatial location, type, and risk level. This achieves accurate and forward-looking identification of complex interference risks arising from tolerances, deformations, and sequential assembly in the micro-assembly space. Interference perception is elevated from simple spatial obstacle avoidance to intelligent decision support with risk warning capabilities, providing crucial safety assurance for subsequent high-precision, high-success-rate alignment and assembly.

[0010] 4. This invention first generates an initial micro-local alignment path and then performs conflict identification and local obstacle avoidance strategy planning based on multi-dimensional interference information to generate an optimized micro-local path. This path is then time-matched with the part assembly sequence to ensure no interference between steps. Finally, after smoothness and reachability verification, the final positioning assembly route is output. This achieves unified planning and closed-loop verification of path safety, assembly timing coordination, and robotic arm movement feasibility at the micro-execution level. This ensures that the high-precision alignment and assembly process not only avoids all immediate and potential interference risks but also seamlessly integrates into the overall assembly process, thereby ensuring high efficiency, smoothness, and a high first-time success rate in the entire automatic assembly process of optical lenses. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention.

[0012] Figure 1 A flowchart of the method provided by an embodiment of the present invention is shown.

[0013] Figure 2 An application architecture diagram of the system provided in an embodiment of the present invention is shown. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0015] Understandably, in existing technologies, the automated assembly of vision-based optical lenses relies solely on a single high-precision camera for positioning and identification. However, the assembly process of optical lenses typically involves multiple lenses, spacers, lens barrels, and other structures, resulting in complex spatial hierarchies and extremely high precision requirements. To adapt to the differences in each assembly part, a high-precision camera must continuously adjust multiple parameters during use, such as spatial position movement, shooting angle adjustment, focus reset, and light source compensation, in order to obtain stable and reliable positioning data in different assembly steps. Frequent parameter adjustments not only increase the complexity of vision positioning but also make the positioning process lengthy, significantly extending the entire automated assembly cycle of the optical lens and reducing production line efficiency.

[0016] To address the aforementioned issues, this invention employs automated assembly planning to generate assembly planning data and selects a global camera and a micro-camera. The global camera performs global assembly monitoring, and based on the assembly planning data, determines the current assembly part and plans a positioning and pickup route. Following this route, the current assembly part is picked up and transferred, while the micro-camera performs micro-assembly monitoring to acquire micro-monitoring data. Based on the assembly planning data, the micro-monitoring data is used for assembly positioning identification, and a positioning and assembly route is planned. Following this route, the current assembly part is aligned and assembled, and after assembly, assembly verification and processing are performed. This collaborative monitoring by the global and micro-cameras enables the picking, transfer, and alignment of the current assembly part, eliminating the need for cumbersome adjustments to multiple parameters of a single camera. Stable and reliable positioning data is obtained, significantly reducing the complexity of visual positioning, thereby shortening the automatic assembly cycle of optical lenses and improving production line efficiency.

[0017] Figure 1 A flowchart of the method provided by an embodiment of the present invention is shown.

[0018] Specifically, the visual positioning-based automatic assembly method for optical lenses includes the following steps: Step S101: Perform automatic assembly planning, generate assembly planning data, and select global cameras and micro-cameras.

[0019] In this embodiment of the invention, a target assembly lens that needs to be automatically assembled using visual positioning is determined, and the assembly process data of the target assembly lens is obtained. According to the assembly process data, an automatic assembly plan is made for the target assembly lens to generate assembly plan data. At the same time, an assembly work area is selected from the automatic assembly production line of optical lenses, and the visual positioning hardware data of the assembly work area is obtained. By analyzing the camera position of the visual positioning hardware data, a global camera and a micro-camera are selected. The micro-camera is close to the automatic assembly space in the assembly work area, and the global camera is far away from the automatic assembly space in the assembly work area.

[0020] In a preferred embodiment of the present invention, the step of performing automatic assembly planning, generating assembly planning data, and selecting global and micro cameras specifically includes the following steps: Step S1011: Determine the target assembly lens and obtain assembly process data; Step S1012: According to the assembly process data, perform automatic assembly planning and generate assembly planning data; Step S1013: Select the assembly work area; Step S1014: Select the global camera and the micro-camera according to the assembly work area.

[0021] In a preferred embodiment of the present invention, automatically planning the assembly process according to the assembly process data and generating the assembly planning data specifically includes the following steps: S10121, Extract the component assembly sequence and component geometric features of the target assembled lens from the assembly process data to obtain component assembly sequence data; S10122, Based on the part assembly sequence data and combined with the predefined spatial layout information in the assembly process data, determine the initial storage position and target assembly position of each part during the assembly process to obtain part position mapping data; S10123, Based on the part position mapping data, analyze the spatial relationship between the target assembly position and the assembled parts, identify potential interference areas of the parts, and generate a list of part interference areas; S10124, Based on the list of interference areas of the parts and the mapping data of the parts positions, plan the monitoring coverage path of the global camera to ensure coverage of the initial storage position and target assembly position of all parts, while avoiding interference areas, so as to determine the global monitoring path data. S10125, Based on the list of interference regions of the parts and the global monitoring path data, pre-plan the monitoring parameters of the micro-local camera, including shooting angle, focal length and light source compensation, to adapt to the alignment and assembly requirements of different parts, so as to obtain a micro-local monitoring parameter set; S10126, Integrate the part assembly sequence data, the part position mapping data, the interference region list, the global monitoring path data, and the parameters in the micro-local monitoring parameter set to generate preliminary assembly planning data; S10127, Perform simulated assembly verification on the preliminary assembly planning data, check for assembly conflicts or monitoring blind spots, and adjust the preliminary assembly planning data according to the verification results to generate assembly planning data.

[0022] In this embodiment of the invention, the present invention systematically extracts the assembly sequence and geometric features of parts from the assembly process data to construct accurate part position mapping data. Based on this, it analyzes the spatial relationship between the target assembly position and the assembled parts to identify potential interference areas (for example, by performing Boolean operations on a 3D model, the minimum gap between the inner wall of the lens barrel and the edge of the lens to be installed is automatically calculated, and areas smaller than the safety threshold are marked as potential interference areas). Then, it plans the monitoring coverage path of the global camera and pre-plans the monitoring parameters of the micro-local camera (for example, based on the lens diameter and lens barrel depth, different focal lengths and ring light source brightness are preset for the micro-local camera to ensure that clear images can be obtained when assembling different lenses). Finally, it verifies the preliminary planning data by performing conflict checks and adjustments through simulated assembly (for example, driving the robotic arm model to execute the entire assembly sequence in a virtual environment, detecting and recording possible collisions between the robotic arm, nozzle, and lens structure in real time, as well as whether the camera's field of view is obstructed). This solves the problems of assembly conflicts and monitoring blind spots caused by relying on on-site debugging in traditional methods, realizes full-process visualization pre-performance and data-driven proactive planning before assembly execution, avoids interference risks from the source, and lays a data foundation for stable collaborative monitoring by dual cameras.

[0023] Furthermore, the visual positioning type automatic assembly method for optical lenses also includes the following steps: Step S102: Perform global assembly monitoring through the global camera, and determine the currently assembled parts according to the assembly planning data, and plan the positioning and picking route.

[0024] In this embodiment of the invention, during the automatic assembly of the target assembly lens, global assembly monitoring is performed by a global camera to obtain global monitoring data. According to the assembly sequence of the parts corresponding to the assembly planning data, the current assembly part is determined. Then, the global monitoring data is used for positioning and identification to determine the current global position of the current assembly part. According to the assembly planning data, the assembly global position of the current assembly part is determined. Then, based on the current global position and the assembly global position, a positioning and picking route is planned.

[0025] It is understandable that the current global position can be within the material box; the assembly global position is any non-interference spatial position in the automatic assembly space within the assembly work area.

[0026] In a preferred embodiment of the present invention, the step of performing global assembly monitoring through the global camera and determining the current assembly parts and planning the positioning and picking route according to the assembly planning data specifically includes the following steps: Step S1021: Perform global assembly monitoring through the global camera to obtain global monitoring data; Step S1022: Determine the parts to be assembled according to the assembly planning data; Step S1023: Perform location identification on the global monitoring data to determine the current global position of the currently assembled part; Step S1024: Determine the global assembly position of the currently assembled part according to the assembly planning data; Step S1025: Based on the current global location and the assembled global location, plan the positioning and picking route.

[0027] In a preferred embodiment of the present invention, planning the positioning and picking route based on the current global location and the assembled global location specifically includes the following steps: Step S10251: Calculate the initial straight path from the current position of the part to the target assembly position based on the current global position and the assembly global position, so as to confirm the initial straight path data. Step S10252: Call the list of parts interference regions in the assembly planning data, compare the initial straight path data with the parts interference regions in the list of parts interference regions, identify the static interference regions traversed by the initial straight path, and obtain the path static interference region set; Step S10253: Using the global monitoring data acquired in real time by the global camera, identify mobile devices or temporary obstacles moving around the initial straight path to obtain a set of dynamic interference objects for the path. Step S10254: Based on the initial straight path data, the path replanning is performed by combining the path static interference region set and the path dynamic interference object set to generate an optimized obstacle avoidance path with identified static and dynamic interference, so as to obtain optimized obstacle avoidance path data. Step S10255: Based on the optimized obstacle avoidance path data and combined with the global monitoring path data in the assembly planning data, evaluate the matching relationship between path execution efficiency and global monitoring coverage, and coordinate the robotic arm running speed and camera sampling frequency of key nodes in the path to obtain a set of coordinated control parameters. Step S10256: The optimized obstacle avoidance path is parsed into multiple path nodes connected in sequence, and the corresponding robotic arm running speed and camera sampling frequency are matched for each path node from the collaborative control parameter set to generate control parameters matching the path node. Based on the control parameters matching the path node, the robotic arm and the global camera are coordinated to obtain the picking route scheme data. Step S10257: Perform conflict verification between the picking route scheme data and the real-time global monitoring data to ensure that there is no new interference, so as to obtain the positioning picking route of the picking action.

[0028] In this embodiment of the invention, the present invention first identifies static interferences (e.g., identifying the fixed support between the material tray and the assembly table as a static obstacle) based on a pre-planned list of part interference areas in global path planning, and then perceives dynamic interference objects (e.g., identifying AGVs moving on the production line or temporary workers passing by as dynamic obstacles) in real time by combining global camera real-time monitoring data. A comprehensive optimized obstacle avoidance path is generated, and the path execution efficiency and global monitoring coverage are further planned collaboratively (e.g., reducing the camera sampling frequency to save resources when the robotic arm is traversing an open area at high speed, and reducing the robotic arm speed and increasing the camera sampling frequency to ensure positioning accuracy when approaching a precision assembly position). The path nodes are precisely matched with the robotic arm running speed and the camera sampling frequency. Finally, after conflict verification with real-time global monitoring data, the positioning and picking route is output. This solves the problem that traditional path planning does not fully consider changes in static and dynamic environments and the lack of coordination between motion and control. It realizes comprehensive perception and intelligent response to the part picking and transfer environment, ensuring that the process is both efficient and smooth and the positioning is accurate.

[0029] Furthermore, the visual positioning type automatic assembly method for optical lenses also includes the following steps: Step S103: Pick up and transfer the currently assembled parts according to the positioning and picking route, and perform micro-assembly monitoring through the micro-camera to obtain micro-monitoring data.

[0030] In this embodiment of the invention, a global pickup signal is generated according to the positioning pickup route, and then pickup transfer control is performed in response to the global pickup signal to pick up and transfer the currently assembled part to the global assembly position. Based on the global assembly position, micro-local monitoring parameters are planned, and then micro-local assembly monitoring control such as height and angle is performed on the micro-local camera according to the micro-local monitoring parameters. After that, the micro-local monitoring data captured by the micro-local camera is acquired.

[0031] In a preferred embodiment of the present invention, the step of picking up and transferring the currently assembled part according to the positioning and picking route, and monitoring the micro-assembly through the micro-camera to obtain micro-monitoring data specifically includes the following steps: Step S1031: Generate a global pickup signal according to the positioning and pickup route; Step S1032: Pick up and transfer the currently assembled part according to the global pickup signal; Step S1033: Based on the assembled global position, plan the micro-local monitoring parameters; Step S1034: Perform micro-area assembly monitoring and control on the micro-area camera according to the micro-area monitoring parameters; Step S1035: Obtain micro-area monitoring data captured by the micro-area camera.

[0032] Furthermore, the visual positioning type automatic assembly method for optical lenses also includes the following steps: Step S104: Based on the assembly planning data, perform assembly positioning identification on the micro-area monitoring data and plan the positioning assembly route.

[0033] In this embodiment of the invention, based on assembly planning data, assembly positioning identification is performed on micro-region monitoring data to determine the current micro-region location and the assembly micro-region location. At the same time, based on the micro-region monitoring data, assembly interference identification is performed on the space between the current micro-region location and the assembly micro-region location to determine multiple interference space regions. Then, based on the current micro-region location, the assembly micro-region location, and the multiple interference space regions, a positioning assembly route is planned.

[0034] Understandably, the planned positioning and assembly route can avoid multiple interference zones.

[0035] In a preferred embodiment of the present invention, the step of performing assembly location identification on the micro-area monitoring data based on the assembly planning data, and planning the location assembly route specifically includes the following steps: Step S1041: Based on the assembly planning data, perform assembly positioning identification on the micro-site monitoring data to determine the current micro-site location and the assembly micro-site location; Step S1042: Assemble and identify the micro-local monitoring data to determine multiple interference spatial regions; Step S1043: Based on the current micro-location, the assembly micro-location, and the multiple interference space regions, plan the positioning and assembly route.

[0036] In a preferred embodiment of the present invention, the assembly and interferometric identification of the micro-local monitoring data to determine multiple interferometric spatial regions includes: Step S10421: Based on the pre-stored geometric features of the parts in the assembly planning data, perform three-dimensional contour analysis on the micro-local monitoring data to identify the actual contour boundary of the assembled parts and the contour boundary of the currently assembled parts, so as to obtain the component contour data at the micro-local scale. Step S10422: Call the part interference regions in the part interference region list, compare the component contour data at the micro-scale with the part interference regions in the part interference region list, verify the accuracy of the pre-planned interference region at the micro-scale, and identify new potential interference regions caused by assembly tolerances or part deformation, so as to determine the updated micro-scale interference region. Step S10423: Based on the updated micro-interference region and combined with the part assembly sequence data, predict the sequential interference risk that will occur after the current assembly step to obtain sequential interference prediction data. Step S10424: Overlay the optimized obstacle avoidance path data with the updated micro-interference region for analysis, identify the path segments where the robotic arm conflicts with the identified interference region during the micro-alignment assembly process, and obtain the path-interference conflict point set. Step S10425: Based on the interference conflict points in the path-interference conflict point set, perform micro-local space volume analysis on each conflict point, calculate the safe operating space required when the currently assembled part moves along the planned path, and compare the overlap between this space and the existing interference area to obtain multiple interference space volume descriptions. Step S10426: By combining the updated micro-interference region, the sequence interference prediction data, and the multiple interference space volume descriptions, a multi-dimensional interference space region set containing spatial location, interference type, and risk level is generated to guide the positioning and assembly route planning. The multi-dimensional interference space region set is used as multiple interference space regions.

[0037] In this embodiment of the invention, the present invention utilizes micro-local monitoring data and pre-stored part geometric features at the micro-local scale to perform three-dimensional contour analysis and dynamically update the interference region (for example, reconstructing the precise three-dimensional contour of the installed lens using high-definition images captured by a micro-local camera and comparing it with the three-dimensional model to identify tiny interference protrusions caused by glue overflow that were not considered in the pre-planning). Simultaneously, it introduces assembly sequence prediction to predict temporal interference risks (for example, predicting that the pressure ring to be installed next will conflict with the currently identified glue overflow area), and associates it with globally optimized obstacle avoidance paths to identify micro-local conflict points (for example, discovering that the path of the robotic arm clamping the current lens will scratch a tiny burr). Finally, through micro-local spatial volume analysis, it generates a multi-dimensional set of interference spatial regions containing location, type, and risk level. This solves the problem that traditional interference recognition methods cannot effectively handle the complex risks brought about by assembly tolerances, part deformation, and sequential assembly at the micro-level, elevating interference perception from simple spatial obstacle avoidance to intelligent decision support with forward-looking early warning capabilities.

[0038] In a preferred embodiment of the present invention, planning the positioning and assembly route based on the current micro-location, the assembly micro-location, and multiple interference space regions specifically includes the following steps: Step S10431: Generate an initial micro-site alignment path based on the current micro-site position and the assembled micro-site position; Step S10432: Perform spatial overlay analysis on the initial micro-local alignment path data and multiple precise interference space volume descriptions in the multi-dimensional interference space region set to identify path segments in the initial micro-local alignment path that conflict with the interference space volume, so as to obtain a list of micro-local path conflict segments. Step S10433: For each conflict segment in the micro-local path conflict segment list, combined with the corresponding interference type and risk level in the multi-dimensional interference space region set, plan one or more local obstacle avoidance strategies for each conflict segment to obtain a local obstacle avoidance strategy set. Step S10434: Correct the initial micro-local alignment path data according to the obstacle avoidance strategy in the local obstacle avoidance strategy set, and generate an optimized micro-local path that avoids the identified interference space volume. Step S10435: Perform time-series matching analysis on the optimized micro-local path data and the part assembly sequence data to ensure that the current micro-local alignment assembly action of the part and the pre-planned spatial position of the subsequent parts to be assembled will not cause time-series interference, so as to obtain time-safe micro-local assembly path data. Step S10436: Perform smoothness and reachability checks on the time-safe micro-local assembly path data to ensure that the robotic arm end effector can run smoothly and accurately along the path to generate a planned positioning assembly route.

[0039] In this embodiment of the invention, the invention first generates an initial micro-local alignment path and performs conflict identification and local obstacle avoidance strategy planning based on a multi-dimensional interference space region set (for example, for a "high-risk" rigid interference region, a large detour obstacle avoidance strategy is adopted; for a "low-risk" soft interference region, such as slight glue overflow, a slightly raised path is planned and a slow passage is performed). An optimized micro-local path is then generated. This path is then matched with the part assembly sequence in a time sequence to ensure no interference between steps (for example, verifying that the current lens assembly path will not encroach on the installation space required by the subsequent spring coil, avoiding the problem of "installing first and then blocking"). Finally, the smoothness and accessibility of the time sequence-safe path are verified (for example, checking whether the path curvature exceeds the rotation limit of the robotic arm joint to ensure that the end effector can operate in a stable posture). The final positioning and assembly route that can directly drive the robotic arm is output. This solves the problem of the disconnect between path safety, assembly time sequence coordination and robotic arm movement feasibility in traditional alignment assembly, and realizes unified planning and closed-loop verification at the micro-execution level, ensuring that the high-precision alignment assembly process can be seamlessly integrated into the overall assembly process.

[0040] Furthermore, the visual positioning type automatic assembly method for optical lenses also includes the following steps: Step S105: Align and assemble the currently assembled parts according to the positioning and assembly route, and perform assembly verification and processing after the assembly is completed.

[0041] In this embodiment of the invention, an alignment assembly signal is generated according to the positioning assembly route. In response to the alignment assembly signal, alignment assembly control is performed to align and assemble the current assembly parts. After the assembly is completed, verification and monitoring are performed through a micro-camera to obtain verification and monitoring data. By performing assembly verification and identification on the verification and monitoring data, it is determined whether there is an assembly deviation. If an assembly deviation is determined, assembly adjustment control is performed, and micro-monitoring and alignment assembly are performed again.

[0042] In a preferred embodiment of the present invention, the step of aligning and assembling the currently assembled parts according to the positioning assembly route, and performing assembly verification and processing after the assembly is completed, specifically includes the following steps: Step S1051: Generate an alignment assembly signal according to the positioning assembly route; Step S1052: In response to the alignment assembly signal, align and assemble the currently assembled parts; Step S1053: After assembly is completed, verification and monitoring are performed using a micro-camera to obtain verification and monitoring data; Step S1054: Perform assembly verification and identification on the verification monitoring data to determine whether there is an assembly deviation; Step S1055: When there is assembly deviation, perform assembly adjustment control.

[0043] Furthermore, Figure 2 An application architecture diagram of the system provided in an embodiment of the present invention is shown.

[0044] In another preferred embodiment of the present invention, the visual positioning type automatic optical lens assembly system includes: The automatic assembly planning unit 101 is used to perform automatic assembly planning, generate assembly planning data, and select global cameras and micro cameras.

[0045] In this embodiment of the invention, the automatic assembly planning unit 101 determines the target assembly lens that needs to be automatically assembled using visual positioning, and obtains the assembly process data of the target assembly lens. According to the assembly process data, it performs automatic assembly planning for the target assembly lens and generates assembly planning data. At the same time, it selects an assembly work area from the automatic assembly production line of optical lenses and obtains the visual positioning hardware data of the assembly work area. By analyzing the camera position of the visual positioning hardware data, it selects a global camera and a micro-camera. The micro-camera is close to the automatic assembly space in the assembly work area, while the global camera is far away from the automatic assembly space in the assembly work area.

[0046] In a preferred embodiment of the present invention, the automatic assembly planning unit 101 specifically includes: The process data acquisition module 1011 is used to determine the target assembly lens and acquire assembly process data. The automatic assembly planning module 1012 is used to perform automatic assembly planning according to the assembly process data and generate assembly planning data. The work area selection module 1013 is used to select the assembly work area; The camera selection module 1014 is used to select a global camera and a micro-camera based on the assembly work area.

[0047] Furthermore, the visual positioning type automatic optical lens assembly system also includes: The global assembly monitoring unit 102 is used to monitor the global assembly through the global camera, and determine the currently assembled parts and plan the positioning and picking route according to the assembly planning data.

[0048] In this embodiment of the invention, during the automatic assembly of the target assembly lens, the global assembly monitoring unit 102 performs global assembly monitoring and control on the global camera, acquires global monitoring data, determines the current assembly part according to the part assembly order corresponding to the assembly planning data, then performs positioning and identification on the global monitoring data to determine the current global position of the current assembly part, and determines the assembly global position of the current assembly part according to the assembly planning data, and then plans the positioning and picking route based on the current global position and the assembly global position.

[0049] In a preferred embodiment provided by the present invention, the global assembly monitoring unit 102 specifically includes: The global assembly monitoring module 1021 is used to perform global assembly monitoring through the global camera and acquire global monitoring data. The current part determination module 1022 is used to determine the current assembly part according to the assembly planning data; The current global position determination module 1023 is used to perform positioning and identification on the global monitoring data to determine the current global position of the currently assembled part; The assembly global position determination module 1024 is used to determine the assembly global position of the currently assembled part according to the assembly planning data; The positioning and picking route planning module 1025 is used to plan a positioning and picking route based on the current global position and the assembled global position.

[0050] Furthermore, the visual positioning type automatic optical lens assembly system also includes: The micro-assembly monitoring unit 103 is used to pick up and transfer the currently assembled parts according to the positioning and picking route, and to perform micro-assembly monitoring through the micro-camera to obtain micro-monitoring data.

[0051] In this embodiment of the invention, the micro-assembly monitoring unit 103 generates a global pickup signal according to the positioning pickup route, and then responds to the global pickup signal to perform pickup transfer control, picking up and transferring the currently assembled part to the global assembly position. Based on the global assembly position, it plans micro-assembly monitoring parameters, and then performs micro-assembly monitoring control on the micro-camera according to the micro-assembly monitoring parameters, such as height and angle. After that, it acquires the micro-assembly monitoring data captured by the micro-camera.

[0052] In a preferred embodiment of the present invention, the micro-assembly monitoring unit 103 specifically includes: The signal generation module 1031 is used to generate a global pickup signal according to the positioning pickup route; The pick-and-transfer module 1032 is used to pick up and transfer the currently assembled part according to the global pick-up signal; Parameter planning module 1033 is used to plan micro-local monitoring parameters based on the global assembly location; The micro-area assembly monitoring module 1034 is used to perform micro-area assembly monitoring and control on the micro-area camera according to the micro-area monitoring parameters; The micro-area monitoring data acquisition module 1035 is used to acquire micro-area monitoring data captured by the micro-area camera.

[0053] Furthermore, the visual positioning type automatic optical lens assembly system also includes: The assembly positioning and identification unit 104 is used to perform assembly positioning and identification on the micro-area monitoring data based on the assembly planning data, and to plan the positioning and assembly route.

[0054] In this embodiment of the invention, the assembly positioning and identification unit 104 performs assembly positioning and identification on the micro-site monitoring data based on the assembly planning data to determine the current micro-site location and the assembly micro-site location. At the same time, based on the micro-site monitoring data, it performs assembly interference identification on the space between the current micro-site location and the assembly micro-site location to determine multiple interference space regions. Then, based on the current micro-site location, the assembly micro-site location and the multiple interference space regions, it plans the positioning and assembly route.

[0055] The alignment and assembly verification unit 105 is used to align and assemble the currently assembled parts according to the positioning and assembly route, and to perform assembly verification and processing after the assembly is completed.

[0056] In this embodiment of the invention, the alignment assembly verification unit 105 generates an alignment assembly signal according to the positioning assembly route, responds to the alignment assembly signal, performs alignment assembly control, realizes the alignment assembly of the current assembly parts, and after the assembly is completed, performs verification monitoring through a micro-camera to obtain verification monitoring data. By performing assembly verification identification on the verification monitoring data, it determines whether there is an assembly deviation, and if an assembly deviation is determined, performs assembly adjustment control, and performs micro-monitoring and alignment assembly again.

[0057] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the various embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0058] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0059] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

[0061] 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, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automatically assembling a vision-positioning optical lens, characterized in that, The method specifically includes the following steps: Perform automatic assembly planning, generate assembly planning data, and select global and micro-local cameras; The global assembly is monitored by the global camera, and the current assembly parts are determined according to the assembly planning data, and a positioning and picking route is planned. According to the positioning and picking route, the currently assembled parts are picked up and transferred, and the micro-assembly is monitored by the micro-camera to obtain micro-monitoring data. Based on the assembly planning data, the micro-area monitoring data is used to identify assembly location and plan the positioning assembly route; According to the positioning and assembly route, the currently assembled parts are aligned and assembled, and after the assembly is completed, assembly verification and processing are performed.

2. The automatic assembly method for visual positioning optical lenses according to claim 1, characterized in that, The automatic assembly planning process, which generates assembly planning data and selects global and micro-local cameras, includes the following steps: Identify the target lens to assemble and obtain assembly process data; Based on the assembly process data, perform automatic assembly planning and generate assembly planning data; Select the assembly work area; Based on the assembly work area, select a global camera and a micro camera.

3. The automatic assembly method for visual positioning optical lenses according to claim 2, characterized in that, Based on the assembly process data, the automatic assembly planning and generation of assembly planning data specifically includes the following steps: The assembly sequence and geometric features of the target assembled lens are extracted from the assembly process data to obtain the part assembly sequence data; Based on the part assembly sequence data and the predefined spatial layout information in the assembly process data, the initial storage position and target assembly position of each part in the assembly process are determined to obtain part position mapping data. Based on the part position mapping data, the spatial relationship between the target assembly position and the assembled components is analyzed to identify potential interference areas of the parts and generate a list of part interference areas. Based on the list of interference zones of the parts and the mapping data of the parts positions, the monitoring coverage path of the global camera is planned to ensure coverage of the initial storage position and target assembly position of all parts, while avoiding interference zones, so as to determine the global monitoring path data. Based on the list of interference regions of the parts and the global monitoring path data, the monitoring parameters of the micro-local camera are pre-planned, including shooting angle, focal length and light source compensation, to adapt to the alignment and assembly requirements of different parts, so as to obtain a micro-local monitoring parameter set. By integrating the component assembly sequence data, the component position mapping data, the interference region list, the global monitoring path data, and the parameters in the micro-local monitoring parameter set, preliminary assembly planning data is generated. The preliminary assembly planning data is simulated and verified to check for assembly conflicts or monitoring blind spots. Based on the verification results, the preliminary assembly planning data is adjusted to generate assembly planning data.

4. The automatic assembly method for visual positioning optical lenses according to claim 3, characterized in that, The global assembly monitoring is performed using the global camera, and the current assembly parts are determined according to the assembly planning data. The planning and positioning of the pickup route specifically includes the following steps: Global assembly monitoring is performed using the global camera to obtain global monitoring data; Based on the assembly planning data, determine the parts to be assembled. The global monitoring data is used to locate and identify the current global position of the currently assembled part; Based on the assembly planning data, determine the global assembly position of the currently assembled part; Based on the current global location and the assembled global location, a positioning and picking route is planned.

5. The automatic assembly method for visual positioning optical lenses according to claim 4, characterized in that, Based on the current global location and the assembled global location, planning the positioning and picking route specifically includes the following steps: Based on the current global position and the assembly global position, the initial straight path from the current position of the part to the target assembly position is calculated to confirm the initial straight path data. The assembly planning data is called up, and the initial straight path data is compared with the part interference regions in the part interference region list to identify the static interference regions traversed by the initial straight path, so as to obtain the path static interference region set. By using the global monitoring data acquired in real time by the global camera, mobile devices or temporary obstacles moving around the initial straight path are identified to obtain a set of dynamic interference objects for the path. By combining the path static interference regions in the path static interference region set and the path dynamic interference objects in the path dynamic interference object set, path replanning is performed based on the initial straight path data to generate an optimized obstacle avoidance path with identified static and dynamic interference, so as to obtain optimized obstacle avoidance path data. Based on the optimized obstacle avoidance path data and combined with the global monitoring path data in the assembly planning data, the matching relationship between path execution efficiency and global monitoring coverage is evaluated. The robotic arm running speed and camera sampling frequency at key nodes in the path are planned collaboratively to obtain a set of collaborative control parameters. The optimized obstacle avoidance path is parsed into multiple sequentially connected path nodes. From the set of collaborative control parameters, a corresponding robotic arm running speed and camera sampling frequency are matched for each path node to generate control parameters matching the path node. Based on the control parameters matching the path node, the robotic arm and the global camera are coordinated to obtain the picking route scheme data. The picking route plan data and real-time global monitoring data are checked for conflicts to ensure that there is no new interference, so as to obtain the positioning picking route of the picking action.

6. The automatic assembly method for visual positioning optical lenses according to claim 5, characterized in that, Following the positioning and picking route, the currently assembled part is picked up and transferred, and micro-area assembly monitoring is performed through the micro-area camera to obtain micro-area monitoring data. Specifically, this includes the following steps: Generate a global pickup signal according to the positioning and pickup route; According to the global pickup signal, the currently assembled part is picked up and transferred; Based on the global assembly location, plan the micro-local monitoring parameters; According to the micro-area monitoring parameters, the micro-area camera is subjected to micro-area assembly monitoring and control. Acquire micro-area monitoring data captured by the micro-area camera.

7. The automatic assembly method for visual positioning optical lenses according to claim 6, characterized in that, Based on the assembly planning data, the assembly location identification is performed on the micro-area monitoring data, and the planning and positioning assembly route specifically includes the following steps: Based on the assembly planning data, the micro-site monitoring data is used to perform assembly positioning identification to determine the current micro-site location and the assembly micro-site location; The micro-local monitoring data is assembled and subjected to interference identification to determine multiple interference spatial regions; Based on the current micro-location, the assembly micro-location, and multiple interference space regions, a positioning and assembly route is planned.

8. The automatic assembly method for visual positioning optical lenses according to claim 7, characterized in that, The micro-local monitoring data is assembled and interferometrically identified to determine multiple interferometric spatial regions, including: Based on the pre-stored geometric features of the parts in the assembly planning data, the micro-local monitoring data is analyzed in three dimensions to identify the actual contour boundary of the assembled parts and the contour boundary of the currently assembled parts, so as to obtain the component contour data at the micro-local scale. The component interference regions in the component interference region list are called up, and the component contour data at the micro-scale is compared with the component interference regions in the component interference region list to verify the accuracy of the pre-planned interference regions at the micro-scale and identify new potential interference regions caused by assembly tolerances or component deformation, so as to determine the updated micro-scale interference regions. Based on the updated micro-interference region and combined with the part assembly sequence data, the sequential interference risk that will occur after the current assembly step is predicted to obtain sequential interference prediction data. The optimized obstacle avoidance path data is overlaid with the updated micro-interference region for analysis to identify the path segments where the robotic arm conflicts with the identified interference region during the micro-alignment assembly process, so as to obtain the path-interference conflict point set. Based on the interference conflict points in the path-interference conflict point set, a micro-local spatial volume analysis is performed on each conflict point to calculate the safe operating space required when the currently assembled part moves along the planned path, and the overlap between this space and the existing interference area is compared to obtain multiple interference space volume descriptions. By combining the updated micro-interference regions, the sequence interference prediction data, and the multiple interference space volume descriptions, a multi-dimensional set of interference space regions, including spatial location, interference type, and risk level, is generated to guide the planning of the positioning and assembly route. This multi-dimensional set of interference space regions is then used as multiple interference space regions.

9. The automatic assembly method for visual positioning optical lenses according to claim 8, characterized in that, Based on the current micro-location, the assembly micro-location, and multiple interference space regions, a positioning and assembly route is planned, specifically including the following steps: Based on the current micro-site position and the assembled micro-site position, an initial micro-site alignment path is generated; Spatial overlay analysis is performed on the initial micro-local alignment path data and multiple precise interferometric space volume descriptions in the multi-dimensional interferometric space region set to identify path segments in the initial micro-local alignment path that conflict with the interferometric space volume, so as to obtain a list of micro-local path conflict segments. For each conflict segment in the micro-local path conflict segment list, combined with the corresponding interference type and risk level in the multi-dimensional interference space region set, one or more local obstacle avoidance strategies are planned for each conflict segment to obtain a local obstacle avoidance strategy set. The initial micro-local alignment path data is corrected according to the obstacle avoidance strategy in the local obstacle avoidance strategy set to generate an optimized micro-local path that avoids the identified interference space volume. The optimized micro-local path data and the part assembly sequence data are subjected to time-series matching analysis to ensure that the current micro-local alignment and assembly action of the part and the pre-planned spatial position of the subsequent parts to be assembled will not cause time-series interference, so as to obtain time-safe micro-local assembly path data. The smoothness and reachability of the time-safe micro-local assembly path data are verified to ensure that the robotic arm end effector can run smoothly and accurately along the path to generate a planned positioning assembly route.

10. The automatic assembly method for visual positioning optical lenses according to claim 9, characterized in that, Following the positioning and assembly route, the currently assembled parts are aligned and assembled. After assembly is completed, assembly verification and processing are performed, specifically including the following steps: Generate alignment assembly signals according to the positioning and assembly route; In response to the alignment assembly signal, the currently assembled parts are aligned and assembled. After assembly is completed, verification and monitoring are carried out using a micro-camera to obtain verification and monitoring data; The verification and monitoring data are assembled and verified to determine whether there is an assembly deviation. When there are assembly deviations, assembly adjustment control is performed.

11. A vision-positioning type automatic optical lens assembly system, characterized in that, The system employs the visual positioning type automatic assembly method for optical lenses as described in any one of claims 1-10, and the system comprises: The automatic assembly planning unit is used to perform automatic assembly planning, generate assembly planning data, and select global and micro-local cameras. The global assembly monitoring unit is used to monitor the global assembly through the global camera, and determine the current assembly parts and plan the positioning and picking route according to the assembly planning data. The micro-assembly monitoring unit is used to pick up and transfer the currently assembled parts according to the positioning and picking route, and to monitor the micro-assembly through the micro-camera to obtain micro-monitoring data. An assembly positioning and identification unit is used to perform assembly positioning and identification on the micro-area monitoring data based on the assembly planning data, and to plan the positioning and assembly route. The alignment and assembly verification unit is used to align and assemble the currently assembled parts according to the positioning and assembly route, and to perform assembly verification and processing after the assembly is completed.

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