One-stop visual positioning method, device, electronic equipment and storage medium

Abstract

This application proposes a one-stop visual positioning method, device, electronic device, and storage medium. The one-stop visual positioning method includes: defining the marked points of the fixture as the origin, and determining a reference coordinate system based on the origin; calibrating the transformation relationship between the camera coordinate system and the reference coordinate system of each of the multiple workstations to obtain the transformation relationship corresponding to each workstation; if the fixture carrying the product flows sequentially into each of the multiple workstations, acquiring the marked images of the marked points in each workstation; calculating the reference coordinates of the marked points in each workstation based on the marked images of the marked points in each workstation and the corresponding transformation relationship of each workstation; and positioning the product based on the reference coordinates of the marked points in each workstation. This application achieves accurate positioning of products in cross-workstation assembly situations, shortens the product production cycle, and improves the overall efficiency of the production line.

Description

Technical Field

[0001] This application relates to the field of visual positioning technology, specifically to a one-stop visual positioning method, device, electronic device, and storage medium. Background Technology

[0002] In modern industrial automated production, precision assembly is a crucial step in manufacturing high-quality consumer electronics products such as smartphones, tablets, and smartwatches. As products become thinner, lighter, and more aesthetically pleasing, and their functionality continues to increase, the assembly difficulty of their internal components is rising, demanding ever higher precision. To achieve precision assembly, almost every workstation on automated production lines is equipped with a vision positioning system to assist in product assembly.

[0003] Traditional station-based vision positioning systems operate independently at each workstation, making it difficult to achieve precise positioning across workstations and posing significant limitations in multi-workstation assembly line operations. This is especially true for products with complex internal component assembly; after assembly at a previous workstation, the visual conditions at subsequent workstations may be restricted, making it difficult for their vision positioning systems to adapt. This necessitates the introduction of more complex vision positioning solutions, which not only increases production costs but also reduces production efficiency. Summary of the Invention

[0004] In view of the above, it is necessary to propose a one-stop visual positioning method, device, electronic equipment and storage medium to solve the technical problem that traditional multi-station visual positioning systems are unable to achieve accurate positioning across workstations.

[0005] In a first aspect, this application provides a one-stop visual positioning method, the method comprising: Define the marked point of the fixture as the origin, and determine the reference coordinate system based on the origin; The transformation relationship between the camera coordinate system and the reference coordinate system of each of the multiple workstations is calibrated to obtain the transformation relationship corresponding to each workstation; If the fixture carrying the product flows sequentially into each of the multiple workstations, the marking images of the marker points in each of the multiple workstations are obtained; The reference coordinates of the marker points in each workstation are calculated based on the marker images of the marker points in each workstation and the corresponding transformation relationship of each workstation. The product is located based on the reference coordinates of the marked points in each workstation.

[0006] In the one-stop visual positioning method described above, by defining the fixture's marker points as the origin and establishing a reference coordinate system, a unified reference framework can be provided for the entire production line, thereby improving the accuracy of product positioning at each workstation. By calibrating the transformation relationship between the camera coordinate system and the reference coordinate system at each workstation, it can adapt to different workstation environments and fixture changes, enhancing the flexibility and adaptability of visual positioning. By acquiring the marker images of the marker points at each workstation and calculating the reference coordinates using the transformation relationship, the consistency of product positioning during cross-workstation flow is ensured, reducing manual intervention in product positioning. Each workstation only needs to acquire the marker images of the fixture's marker points, requiring low camera resolution and performance, thus reducing production costs. The cameras at each workstation only need to handle simple marker recognition tasks, shortening the image capture time and reducing the possibility of misjudgment. Based on this, this application achieves accurate product positioning in cross-workstation assembly scenarios, improving the reliability of the production process, shortening the product production cycle, improving the overall efficiency of the production line, and reducing production costs.

[0007] In some embodiments of this application, the method further includes, before the fixture carrying the product flows sequentially into each of the plurality of workstations: Obtain the visual data and product information of the product, and match the identification code of the fixture with the visual data and product information of the product to obtain the correspondence relationship; If the fixture carrying the product flows into each workstation in sequence, the fixture's identification code is obtained, and the product's visual data and product information are obtained according to the identification code and the corresponding relationship.

[0008] In some embodiments of this application, locating the product based on the reference coordinates of the marker points in each workstation includes: The position information of the product in each workstation is obtained based on the reference coordinates of the marked points in each workstation; The product is located based on its position information at each workstation.

[0009] In some embodiments of this application, after locating the product based on the reference coordinates of the marker points in each workstation, the method further includes: Based on the product's location information in each workstation, the product's visual data, and product information, the fixture performs preset processing operations.

[0010] In some embodiments of this application, after acquiring the visual data and product information of the product, the method further includes: The product is subjected to quality inspection based on its visual data and product information.

[0011] In some embodiments of this application, calculating the reference coordinates of the marker point in each workstation based on the marker image of the marker point in each workstation and the transformation relationship corresponding to each workstation includes: The camera coordinates of the marker points in each workstation are obtained based on the marked images of the marker points in each workstation. The reference coordinates of the marker point in each workstation are calculated based on the camera coordinates of the marker point in each workstation and the transformation relationship between the workstations.

[0012] In some embodiments of this application, obtaining the camera coordinates of the marker point in each workstation based on the marker image of the marker point in each workstation includes: The location of the marker points in the marker image is identified based on an image processing algorithm; The camera coordinates of the marker points at each workstation are determined based on their positions in the marker image.

[0013] Secondly, this application also provides a one-stop visual positioning device, the device comprising: The determination module is used to define the marked points of the fixture as the origin and determine the reference coordinate system based on the origin; The calibration module is used to calibrate the transformation relationship between the camera coordinate system and the reference coordinate system of each of the multiple workstations, and obtain the transformation relationship corresponding to each workstation; The acquisition module is used to acquire the marking images of the marker points in each of the plurality of workstations if the fixture carrying the product flows into each of the plurality of workstations in sequence; The calculation module is used to calculate the reference coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation and the transformation relationship corresponding to each workstation; The positioning module is used to locate the product based on the reference coordinates of the marker points in each workstation.

[0014] Thirdly, this application also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of a one-stop visual positioning method.

[0015] Fourthly, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of a one-stop visual positioning method.

[0016] Understandably, the one-stop visual positioning device of the second aspect, the electronic device of the third aspect, and the computer-readable storage medium of the fourth aspect all correspond to the one-stop visual positioning method of the first aspect. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding one-stop visual positioning method provided above, and will not be repeated here. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application.

[0018] Figure 2 This is a flowchart illustrating a one-stop visual positioning method provided in an embodiment of this application.

[0019] Figure 3 This is a detailed flowchart of step S13 in a one-stop visual positioning method provided in an embodiment of this application.

[0020] Figure 4 This is a detailed flowchart of step S14 in a one-stop visual positioning method provided in an embodiment of this application.

[0021] Figure 5 This is a flowchart illustrating a one-stop visual positioning method provided in another embodiment of this application.

[0022] Figure 6 This is a schematic diagram of the functional modules of a one-stop visual positioning device provided in an embodiment of this application.

[0023] Component Symbol Explanation Electronic devices 10 Memory 11 Processor 12 One-stop visual positioning device 100 Determine module 110 Calibration Module 120 Get Module 130 Calculation Module 140 Positioning module 150 The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0025] In the embodiments of this application, it should be noted that, unless otherwise expressly specified and limited, the word "for example" is used to indicate an example, illustration, or description. Any embodiment or design scheme described as "for example" in the embodiments of this application should not be construed as being better or more advantageous than other embodiments or design schemes. Specifically, the use of the word "for example" is intended to present the relevant concepts in a specific manner.

[0026] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. Furthermore, in the description of this application, "a plurality of" means two or more, unless otherwise expressly and specifically defined.

[0028] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0029] Traditional multi-station vision positioning systems operate independently at each workstation, making it difficult to achieve precise positioning across workstations and posing significant limitations in multi-station assembly line operations. This is especially true for products with complex internal component assembly; after assembly at a previous workstation, the visual conditions at subsequent workstations may be restricted, making it difficult for their vision positioning systems to adapt. This necessitates the introduction of more complex vision positioning solutions, which not only increases production costs but also reduces production efficiency.

[0030] In view of the above, this application provides a visual positioning method, apparatus, electronic device, and storage medium to solve the aforementioned technical problems.

[0031] Please see Figure 1 This is a schematic diagram of the hardware structure of an electronic device 10 provided in an embodiment of this application.

[0032] This application provides a one-stop visual positioning method that can be applied to one or more electronic devices 10. The electronic device 10 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0033] Specifically, the electronic device 10 is used to define the marked points of the fixture as the origin, and determine the reference coordinate system based on the origin; calibrate the transformation relationship between the camera coordinate system and the reference coordinate system of each of the multiple workstations, and obtain the transformation relationship corresponding to each workstation; if the fixture carrying the product flows into each of the multiple workstations in sequence, acquire the marked images of the marked points in each workstation; calculate the reference coordinates of the marked points in each workstation based on the marked images of the marked points in each workstation and the transformation relationship corresponding to each workstation; and position the product based on the reference coordinates of the marked points in each workstation.

[0034] In some embodiments of this application, the electronic device 10 can be communicatively connected to devices such as desktop computers, laptops, handheld computers, and cloud servers.

[0035] In some embodiments of this application, the electronic device 10 can interact with the user via a keyboard, mouse, remote control, touchpad, or voice control device.

[0036] In some embodiments of this application, the electronic device 10 may further include network devices and / or client devices. These network devices include, but are not limited to, a single network server, a server group consisting of multiple network servers, and a cloud server based on cloud computing, consisting of a large number of hosts or network servers.

[0037] In some embodiments of this application, the network where the electronic device 10 is located includes, but is not limited to, the Internet, wide area network, metropolitan area network, local area network, virtual private network (VPN), etc.

[0038] Please see Figure 2 This is a schematic diagram illustrating the steps of a one-stop visual positioning method provided in an embodiment of this application.

[0039] Specifically, the one-stop visual positioning method includes the following steps. Depending on different needs, the order of some steps in the flowchart can be changed, and some steps can be omitted.

[0040] Step S10: Define the marked point of the fixture as the origin, and determine the reference coordinate system based on the origin.

[0041] Specifically, pre-select markers that are easily recognizable by the visual camera, such as QR codes, special patterns, and reflective markers. Acquire visual images of the fixture using the visual camera at the one-stop visual workstation. Identify the markers on the fixture using image processing technology, determine their coordinate positions in the visual image, and then establish a coordinate system with the markers as the origin. This coordinate system is typically aligned with the fixture's physical coordinate system.

[0042] Step S11: Calibrate the transformation relationship between the camera coordinate system and the reference coordinate system for each of the multiple workstations to obtain the transformation relationship corresponding to each workstation.

[0043] Specifically, the marker points on the fixture are moved into the field of view of the cameras at each workstation, and the fixture images captured by the cameras at each workstation are obtained. Based on the fixture images captured by the cameras at each workstation, the spatial coordinates of the marker points in the camera coordinate system are obtained. Based on the spatial coordinates of the marker points in the camera coordinate system, the transformation matrix, i.e., the transformation relationship, of the camera coordinate systems D1, D2, ..., Dn of each workstation relative to the reference coordinate system D0 is calculated.

[0044] In some embodiments of this application, due to errors in actual measurements, it is usually necessary to optimize the transformation matrix based on the least squares method to make the transformation relationship from the camera coordinate system to the reference coordinate system more accurate.

[0045] Step S12: If the fixture carrying the product flows into each of the multiple workstations in sequence, obtain the marking images of the marker points in each workstation.

[0046] Specifically, if the fixtures carrying the products flow into each workstation in sequence, the cameras at each workstation will capture the marked images of the fixtures' marker points in each workstation.

[0047] Step S13: Calculate the reference coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation and the corresponding transformation relationship of each workstation.

[0048] Specifically, step S13, which calculates the reference coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation and the corresponding transformation relationship of each workstation, includes the following steps: obtaining the camera coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation; and calculating the reference coordinates of the marker points in each workstation based on the camera coordinates of the marker points in each workstation and the corresponding transformation relationship of each workstation.

[0049] It should be noted that the method for calculating the reference coordinates of the markers at each workstation based on the marker images at each workstation and the corresponding transformation relationships at each workstation will be discussed later. Figure 3 The steps shown are described in detail, and will not be repeated here to avoid repetition.

[0050] Step S14: Position the product based on the reference coordinates of the marker points in each workstation.

[0051] Specifically, step S14, which involves locating the product based on the reference coordinates of the marker points in each workstation, includes: obtaining the product's position information in each workstation based on the reference coordinates of the marker points in each workstation; and locating the product based on the product's position information in each workstation.

[0052] It should be noted that how to locate the product based on the reference coordinates of the marker points in each workstation will be explained later. Figure 4 The steps shown are described in detail, and will not be repeated here to avoid repetition.

[0053] In the one-stop visual positioning method described above, by defining the fixture's marker points as the origin and establishing a reference coordinate system, a unified reference framework can be provided for the entire production line, thereby improving the accuracy of product positioning at each workstation. By calibrating the transformation relationship between the camera coordinate system and the reference coordinate system at each workstation, it can adapt to different workstation environments and fixture changes, enhancing the flexibility and adaptability of visual positioning. By acquiring the marker images of the marker points at each workstation and calculating the reference coordinates using the transformation relationship, the consistency of product positioning during cross-workstation flow is ensured, reducing manual intervention in product positioning. Each workstation only needs to acquire the marker images of the fixture's marker points, requiring low camera resolution and performance, thus reducing production costs. The cameras at each workstation only need to handle simple marker recognition tasks, shortening the image capture time and reducing the possibility of misjudgment. Based on this, this application achieves accurate product positioning in cross-workstation assembly scenarios, improving the reliability of the production process, shortening the product production cycle, improving the overall efficiency of the production line, and reducing production costs.

[0054] Please see Figure 3This is a schematic diagram illustrating the specific steps of step S13 in a one-stop visual positioning method provided in an embodiment of this application.

[0055] This embodiment is a detailed explanation of step S13 in the aforementioned embodiment, further illustrating how to calculate the reference coordinates of the marker points at each workstation based on the marker images of the marker points at each workstation and the corresponding transformation relationships at each workstation. Specifically, it includes the following steps: Step S131: Obtain the camera coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation.

[0056] Specifically, step S131, which involves obtaining the camera coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation, includes: identifying the position of the marker points in the marker images, i.e., the image coordinates, based on image processing algorithms (such as edge detection, corner detection, etc.); and determining the camera coordinates of the marker points in each workstation based on the position of the marker points in the marker images.

[0057] Step S132: Calculate the reference coordinates of the marker point in each workstation based on the camera coordinates of the marker point in each workstation and the transformation relationship corresponding to each workstation.

[0058] Specifically, the camera coordinates of each workstation are converted into reference coordinates in the reference coordinate system through a corresponding transformation relationship, i.e., a transformation matrix, for subsequent product positioning and processing operations.

[0059] In the above embodiments, precise positioning across workstations is achieved by calculating the reference coordinates of the marker points in each workstation. This makes the transfer and processing of products between different workstations more efficient, reducing processing defects and rework caused by positioning errors. A unified reference coordinate system facilitates the flexible handling of products of different shapes and sizes, improving the adaptability and flexibility of automated production lines.

[0060] Please see Figure 4 The following is a schematic diagram illustrating the specific steps of step S14 in the one-stop visual positioning method provided in an embodiment of this application.

[0061] This embodiment is a detailed explanation of step S14 in the aforementioned embodiment, further illustrating how to locate the product based on the reference coordinates of the marker points in each workstation. Specifically, it includes the following steps: Step S141: Obtain the product's location information in each workstation based on the reference coordinates of the marker points in each workstation.

[0062] Specifically, the position and orientation of the product in the reference coordinate system are determined based on the reference coordinates of the marker points in each workstation, i.e., the position information.

[0063] Step S142: Locate the product based on its location information at each workstation.

[0064] Specifically, the product's position and orientation in the reference coordinate system are used to locate the product.

[0065] In the above embodiments, by positioning the product based on the reference coordinates of the marker points in each workstation, precise control and processing of the product can be achieved, thereby improving production efficiency and product quality and reducing production costs.

[0066] Please see Figure 5 This is a schematic diagram illustrating the steps of a one-stop visual positioning method provided in another embodiment of this application.

[0067] Step S20: Obtain the visual data and product information of the product, and match the fixture's identification code with the visual data and product information of the product to obtain the correspondence.

[0068] Specifically, visual data of the product, such as its image, size, shape, and color, is acquired through the visual camera of the one-stop vision workstation. The visual camera in the one-stop vision workstation can obtain better shooting conditions and, by adjusting the product's posture, better lighting conditions, thereby achieving better visual effects and obtaining more accurate visual data, making subsequent positioning operations more precise.

[0069] In some embodiments of this application, the vision camera of the one-stop vision workstation can be a 3D camera to assist in taking pictures, thereby obtaining more complete visual data.

[0070] In some embodiments of this application, the electronic device 10 collects product information, such as product model, specifications, batch number, material type, design parameters, etc., based on a preset production management system.

[0071] In some embodiments of this application, the electronic device 10 associates the fixture's identification code with the product's visual data and product information to obtain a correspondence, and stores the fixture's identification code as a keyword and the visual data and product information as values ​​in a preset database.

[0072] Step S21: Define the marked point of the fixture as the origin, and determine the reference coordinate system based on the origin.

[0073] Specifically, pre-select markers that are easily recognizable by the visual camera, such as QR codes, special patterns, and reflective markers. Acquire visual images of the fixture using the visual camera at the one-stop visual workstation. Identify the markers on the fixture using image processing technology, determine their coordinate positions in the visual image, and then establish a coordinate system with the markers as the origin. This coordinate system is typically aligned with the fixture's physical coordinate system.

[0074] Step S22: Calibrate the transformation relationship between the camera coordinate system and the reference coordinate system for each of the multiple workstations to obtain the transformation relationship corresponding to each workstation.

[0075] Specifically, the marker points on the fixture are moved into the field of view of the cameras at each workstation, and the fixture images captured by the cameras at each workstation are obtained. Based on the fixture images captured by the cameras at each workstation, the spatial coordinates of the marker points in the camera coordinate system are obtained. Based on the spatial coordinates of the marker points in the camera coordinate system, the transformation matrix, i.e., the transformation relationship, of the camera coordinate systems D1, D2, ..., Dn of each workstation relative to the reference coordinate system D0 is calculated.

[0076] In some embodiments of this application, due to errors in actual measurements, it is usually necessary to optimize the transformation matrix based on the least squares method to make the transformation relationship from the camera coordinate system to the reference coordinate system more accurate.

[0077] Step S23: If the fixtures carrying products flow into each workstation in sequence, obtain the fixture's identification code and obtain the marking images of the marker points in each workstation.

[0078] Specifically, if the fixtures carrying the products flow into each workstation in sequence, the camera at each workstation scans the fixture's identification code and obtains the marked images of the fixture's marker points in each workstation.

[0079] Step S24: Obtain the product's visual data and product information based on the identification code and corresponding relationship.

[0080] Specifically, visual data and product information of the corresponding product are obtained from a preset database based on the identification code and the corresponding relationship.

[0081] Step S25: Calculate the reference coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation and the corresponding transformation relationship of each workstation.

[0082] Specifically, step S25, which calculates the reference coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation and the corresponding transformation relationship of each workstation, includes the following steps: obtaining the camera coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation; and calculating the reference coordinates of the marker points in each workstation based on the camera coordinates of the marker points in each workstation and the corresponding transformation relationship of each workstation.

[0083] Step S26: Obtain the product's location information in each workstation based on the reference coordinates of the marker points in each workstation.

[0084] Specifically, step S26, which involves locating the product based on the reference coordinates of the marker points in each workstation, includes: obtaining the product's position information in each workstation based on the reference coordinates of the marker points in each workstation; and locating the product based on the product's position information in each workstation.

[0085] Step S27: Perform preset processing operations on the fixture based on the product's location information in each workstation, the product's visual data, and the product information.

[0086] Specifically, visual data and product information are integrated to ensure that processing operations match product design requirements. Based on the product design requirements, parameter settings for processing operations such as cutting, drilling, assembly, and bonding are preset.

[0087] In the one-stop visual positioning method described above, by mapping the fixture's identification code to the product's visual data and product information, a correspondence is established, achieving precise correspondence between the product's visual data, product information, and the fixture's identification code. This provides a solid foundation for subsequent data processing and product tracking. By defining the marker point on the fixture as the origin, a unified reference coordinate system is established, providing a consistent reference framework for product positioning and processing across workstations, enhancing the accuracy and reliability of product processing. By calibrating the transformation relationship between the camera coordinate system and the reference coordinate system of each workstation, unified coordinate transformation between different workstations is achieved, improving the positioning accuracy of products when transferring between different workstations. This method can adapt to different products and fixtures, exhibiting excellent flexibility and adaptability, and can cope with changing production needs. By scanning the fixture identification code and acquiring the marker point image, real-time tracking of products flowing into each workstation is achieved, providing real-time data support for subsequent data processing and operations. By scanning the fixture identification code, the corresponding product visual data and product information can be obtained, improving the response speed of the production process and the degree of automation in data processing. By obtaining the product's position information at each workstation based on the reference coordinates of the marked points and performing precise positioning, the accuracy of processing operations is ensured, reducing quality problems caused by positioning errors. Combining product position information, visual data, and product information, preset processing operations are executed, improving the automation and precision of processing and ensuring consistent product quality.

[0088] In some embodiments of this application, the one-stop visual positioning method further includes: performing quality inspection on the product based on its visual data and information, which can detect product defects in the early stages of production and reduce waste and rework in subsequent processing. By reducing scrap and rework, production costs can be significantly reduced, production efficiency can be improved, and the quality and reliability of the final product can be enhanced.

[0089] Please see Figure 6This is a schematic diagram of the functional modules of a one-stop visual positioning device 100 provided in an embodiment of this application.

[0090] In this embodiment, based on the above... Figure 2 Using the same concept as the one-stop visual positioning method in the illustrated embodiments, this application also provides a one-stop visual positioning device 100, which can be used to execute the above-described one-stop visual positioning method. For ease of explanation, the schematic diagram of the one-stop visual positioning device 100 embodiment only shows the parts related to the embodiments of this application. Those skilled in the art will understand that the illustrated structure does not constitute a limitation on the one-stop visual positioning device 100, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0091] Specifically, the one-stop visual positioning device 100 provided in this application embodiment includes a determination module 110, a calibration module 120, an acquisition module 130, a calculation module 140, and a positioning module 150.

[0092] The determination module 110 is used to define the marked point of the fixture as the origin and determine the reference coordinate system based on the origin.

[0093] The calibration module 120 is used to calibrate the transformation relationship between the camera coordinate system and the reference coordinate system of each of the multiple workstations, and obtain the transformation relationship corresponding to each workstation.

[0094] The acquisition module 130 is used to acquire the marking images of the marker points in each of the multiple workstations if the fixture carrying the product flows into each of the multiple workstations in sequence.

[0095] The calculation module 140 is used to calculate the reference coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation and the corresponding transformation relationship of each workstation.

[0096] The positioning module 150 is used to position the product based on the reference coordinates of the marker points in each workstation.

[0097] Combination Figure 1 As shown, in some embodiments of this application, the electronic device 10 includes, but is not limited to, a memory 11, a processor 12, and a computer program stored in the memory 11 and executable on the processor 12, such as a one-stop visual positioning program. When the computer program is executed by the processor 12, it implements the steps of the one-stop visual positioning method described above.

[0098] Figure 1 Only the electronic device 10 with memory 11 and processor 12 is shown. It will be understood by those skilled in the art that... Figure 1The structure shown does not constitute a limitation on the electronic device 10, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0099] The memory 11 in the electronic device 10 stores multiple computer-readable instructions to implement a one-stop visual positioning method. The processor 12 can execute multiple instructions to achieve: defining the marked points of the fixture as the origin and determining the reference coordinate system based on the origin; calibrating the transformation relationship between the camera coordinate system and the reference coordinate system of each of the multiple workstations to obtain the transformation relationship corresponding to each workstation; if the fixture carrying the product flows into each of the multiple workstations in sequence, acquiring the marked images of the marked points in each workstation; calculating the reference coordinates of the marked points in each workstation based on the marked images of the marked points in each workstation and the corresponding transformation relationship of each workstation; and positioning the product based on the reference coordinates of the marked points in each workstation.

[0100] Specifically, the processor 12's implementation method for the above instructions can be found in [reference needed]. Figure 2 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.

[0101] Those skilled in the art will understand that the schematic diagram is merely an example of the electronic device 10 and does not constitute a limitation on the electronic device 10. The electronic device 10 can be a bus topology or a star topology. The electronic device 10 may also include more or fewer other hardware or software than shown in the diagram, or different component arrangements. For example, the electronic device 10 may also include input / output devices, network access devices, etc.

[0102] It should be noted that electronic device 10 is only an example. Other existing or future electronic products that are suitable for this application should also be included within the scope of protection of this application and are incorporated herein by reference.

[0103] The memory 11 includes at least one type of computer-readable storage medium, which can be non-volatile or volatile. Computer-readable storage media include flash memory, portable hard drives, multimedia cards, card-type memories (e.g., SD cards, DX cards, etc.), magnetic storage, magnetic disks, optical disks, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 10, such as a portable hard drive of the electronic device 10. In other embodiments, the memory 11 can also be an external storage device of the electronic device 10, such as a plug-in portable hard drive, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the electronic device 10. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 10, such as the code of a one-stop visual positioning program, but also to temporarily store data that has been output or will be output.

[0104] In some embodiments, the processor 12 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits packaged with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 12 is the control unit of the electronic device 10, connecting various components of the electronic device 10 via various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., executing a one-stop visual positioning program) and calls data stored in the memory 11 to perform various functions and process data of the electronic device 10.

[0105] Processor 12 executes the operating system of electronic device 10 and various installed applications. Processor 12 executes applications to implement the steps in each of the above-described embodiments of the one-stop visual positioning method, for example... Figures 2-5 The steps are shown.

[0106] For example, a computer program may be divided into one or more modules / units, one or more of which are stored in memory 11 and executed by processor 12 to complete this application. One or more modules / units may be a series of computer-readable instruction segments capable of performing a specific function, which describe the execution process of the computer program in electronic device 10. For example, the computer program may be divided into a determining module 110, a calibrating module 120, an acquiring module 130, a calculating module 140, and a locating module 150.

[0107] The integrated unit implemented as a software functional module described above can be stored in a computer-readable storage medium. This software functional module, stored in a storage medium, includes several instructions to cause a computer device (which may be a personal computer, computer equipment, or network device, etc.) or processor to execute a portion of a one-stop visual positioning method according to various embodiments of this application.

[0108] If the modules / units integrated in the electronic device 10 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware devices. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above.

[0109] Computer programs include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory, and other types of memory.

[0110] Furthermore, the computer-readable storage medium may primarily include a stored program area and a stored data area, wherein the stored program area may store the operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of blockchain nodes, etc.

[0111] The bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, in... Figure 1 The symbol is represented by only one arrow, but this does not mean that there is only one bus or one type of bus. The bus is configured to implement communication between memory 11 and at least one processor 12, etc.

[0112] This application also provides a computer-readable storage medium (not shown), which stores computer-readable instructions. These computer-readable instructions are executed by a processor in an electronic device 10 to implement a one-stop visual positioning method according to any of the above embodiments.

[0113] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0114] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0115] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0116] Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices described in the specification may also be implemented by a single unit or device through software or hardware. Terms such as "first," "second," etc., are used to indicate names and do not indicate any specific order.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A one-stop visual positioning method, characterized in that, The method includes: Define the marked point of the fixture as the origin, and determine the reference coordinate system based on the origin; The transformation relationship between the camera coordinate system and the reference coordinate system of each of the multiple workstations is calibrated to obtain the transformation relationship corresponding to each workstation; If the fixture carrying the product flows sequentially into each of the plurality of workstations, the marking images of the marker points in each of the workstations are obtained; The reference coordinates of the marker points in each workstation are calculated based on the marker images of the marker points in each workstation and the corresponding transformation relationship of each workstation. The product is located based on the reference coordinates of the marked points in each workstation.

2. The one-stop visual positioning method as described in claim 1, characterized in that, The method further includes the following before the fixture carrying the product flows sequentially into each of the plurality of workstations: Obtain the visual data and product information of the product, and match the identification code of the fixture with the visual data and product information of the product to obtain the correspondence relationship; If the fixture carrying the product flows into each workstation in sequence, the fixture's identification code is obtained, and the product's visual data and product information are obtained according to the identification code and the corresponding relationship.

3. The one-stop visual positioning method as described in claim 2, characterized in that, The step of locating the product based on the reference coordinates of the marker points in each workstation includes: The position information of the product in each workstation is obtained based on the reference coordinates of the marked points in each workstation; The product is located based on its position information at each workstation.

4. The one-stop visual positioning method as described in claim 3, characterized in that, After locating the product based on the reference coordinates of the marker points at each workstation, the method further includes: Based on the product's location information in each workstation, the product's visual data, and product information, the fixture performs preset processing operations.

5. The one-stop visual positioning method as described in claim 2, characterized in that, After acquiring the visual data and product information of the product, the method further includes: The product is subjected to quality inspection based on its visual data and product information.

6. The one-stop visual positioning method as described in claim 1, characterized in that, The step of calculating the reference coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation and the transformation relationship corresponding to each workstation includes: The camera coordinates of the marker points in each workstation are obtained based on the marked images of the marker points in each workstation. The reference coordinates of the marker point in each workstation are calculated based on the camera coordinates of the marker point in each workstation and the transformation relationship between the workstations.

7. The one-stop visual positioning method as described in claim 6, characterized in that, The step of obtaining the camera coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation includes: The location of the marker points in the marker image is identified based on an image processing algorithm; The camera coordinates of the marker points at each workstation are determined based on their positions in the marker image.

8. A one-stop visual positioning device, characterized in that, The device includes: The determination module is used to define the marked points of the fixture as the origin and determine the reference coordinate system based on the origin; The calibration module is used to calibrate the transformation relationship between the camera coordinate system and the reference coordinate system of each of the multiple workstations, and obtain the transformation relationship corresponding to each workstation; The acquisition module is used to acquire the marking images of the marker points in each of the plurality of workstations if the fixture carrying the product flows into each of the plurality of workstations in sequence; The calculation module is used to calculate the reference coordinates of the marker points in each workstation based on the marker images of the marker points in each workstation and the transformation relationship corresponding to each workstation; The positioning module is used to locate the product based on the reference coordinates of the marker points in each workstation.

9. An electronic device, characterized in that, The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the one-stop visual positioning method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the one-stop visual positioning method as described in any one of claims 1 to 7.

Images