Part assembly positioning method, system, device, medium, and program product

Abstract

The application relates to the technical field of assembly, and provides a part assembly positioning method, system, device, medium and program product, the method comprising: acquiring a part assembly image to be detected in a current assembly state; matching the part assembly image to be detected with a standard part assembly template, and calculating a position offset of a part assembly region to be detected relative to a standard part assembly region; and generating assembly adjustment guide content according to the position offset. The part assembly positioning method provided by the application can realize quantitative calculation and intuitive feedback of the position offset by pre-establishing a standard template and performing image matching in actual assembly, significantly reduces the dependence on the experience of an operator, thereby improving assembly accuracy and consistency, and generates assembly adjustment guide content according to the position offset, provides a clear and executable correction direction for manual adjustment, improves operation efficiency, and overall meets the requirements of advanced manufacturing for high reliability, high efficiency and high stability.

Description

Technical Field

[0001] This application relates to the field of assembly technology, and in particular to a method, system, equipment, medium, and program product for assembling and positioning parts. Background Technology

[0002] In precision manufacturing and electronic assembly processes, the assembly of small, precision parts often demands extremely high positioning accuracy. Current traditional assembly methods heavily rely on operator experience, and the differing judgment standards among operators, coupled with a lack of standardized quantitative control methods, make it difficult to guarantee assembly accuracy and consistency. Furthermore, some assembly spaces are confined, making effective measurement and real-time calibration during assembly difficult, and assembly errors are not easily detected and corrected in a timely manner.

[0003] Overall, traditional parts assembly methods have significant shortcomings in terms of precision and consistency, making it difficult to meet the requirements of advanced manufacturing for high reliability and stability. Summary of the Invention

[0004] This application provides a part assembly positioning method, system, equipment, medium, and program product to solve the problem that the existing technology has obvious shortcomings in terms of accuracy and consistency, and is difficult to meet the requirements of advanced manufacturing industry for high reliability and high stability.

[0005] Firstly, this application provides a method for assembling and positioning parts, including: Acquire the assembly image of the part to be inspected in its current assembly state; The assembly image of the part to be detected is matched with the standard part assembly template to calculate the positional offset of the assembly area of ​​the part to be detected relative to the standard part assembly area; the standard part assembly template is constructed in advance based on the geometric feature extraction of the part assembly image under standard assembly state; Based on the stated position offset, generate assembly adjustment guidance content.

[0006] In one embodiment, the standard parts assembly template is pre-constructed in the following manner: Obtain assembly images of parts in a standard assembly state; Based on a visual algorithm, geometric features are extracted from at least one standard part assembly region in the part assembly image to obtain the geometric feature parameters of the standard part assembly region. The standard part assembly area and its corresponding geometric feature parameters are stored as template data in the standard part assembly template.

[0007] In one embodiment, the step of extracting geometric features from at least one standard part assembly region in the part assembly image based on a visual algorithm to obtain geometric feature parameters of the standard part assembly region includes: Identify at least one region of interest in the part assembly image; The region of interest is segmented into foreground and background to obtain a binary image that distinguishes the assembly area of ​​the standard parts from the background. Based on the binary classification image, the outer contour of the standard part assembly area is extracted, and the minimum bounding rectangle of the outer contour is calculated. The geometric feature parameters of the minimum bounding rectangle are determined as the geometric feature parameters of the standard part assembly area.

[0008] In one embodiment, after obtaining the geometric feature parameters of the standard part assembly area, the method further includes: Determine whether the assembly area of ​​the standard part and its corresponding geometric feature parameters meet the preset process conditions; If the preset process conditions are met, the standard part assembly area and its corresponding geometric feature parameters are stored as template data in the standard part assembly template. If the preset process conditions are not met, return to the step of determining at least one region of interest in the part assembly image.

[0009] In one embodiment, matching the assembly image of the part to be inspected with a standard part assembly template and calculating the positional offset of the assembly area of ​​the part to be inspected relative to the assembly area of ​​the standard part includes: Based on a visual algorithm, geometric features are extracted from at least one assembly region of the part to be detected in the assembly image of the part to be detected to obtain geometric feature parameters of the assembly region of the part to be detected. According to the assembly sequence of the parts, the positional deviation of the geometric feature parameters of the assembly area of ​​the part to be tested and the geometric feature parameters of the corresponding standard part assembly area is calculated to obtain the positional offset of the assembly area of ​​the part to be tested relative to the standard part assembly area.

[0010] In one embodiment, generating assembly adjustment guidance content based on the position offset includes: Based on the position offset, generate assembly adjustment guidance information; The assembly adjustment guidance information is displayed overlaid on the assembly image of the part to be inspected in the form of directional arrows and numerical labels, generating a visual assembly adjustment guidance interface.

[0011] Secondly, this application also provides a parts assembly positioning system, comprising: The acquisition module is used to acquire the assembly image of the part to be inspected in the current assembly state; The matching module is used to match the assembly image of the part to be detected with the standard part assembly template, and calculate the positional offset of the assembly area of ​​the part to be detected relative to the standard part assembly area; the standard part assembly template is constructed based on the geometric feature extraction of the part assembly image under standard assembly state. An assembly adjustment guidance module is used to generate assembly adjustment guidance content based on the position offset.

[0012] Thirdly, this application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the above-described part assembly and positioning methods.

[0013] Fourthly, this application also provides a non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the above-described part assembly and positioning methods.

[0014] Fifthly, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium, and which, when executed by the processor, implements the steps of any of the above-described part assembly and positioning methods.

[0015] The part assembly positioning method, system, equipment, medium, and program products provided in this application acquire an assembly image of the part to be inspected in the current assembly state and match it with a standard part assembly template pre-built based on a standard assembly state. This enables precise calculation of the positional offset of the assembly area of ​​the part to be inspected relative to the standard assembly state, providing a quantitative basis for assembly adjustment. Furthermore, assembly adjustment guidance content is generated based on the positional offset, providing operators with an intuitive and clear method for assembly adjustment. This effectively reduces reliance on operator experience and significantly improves the accuracy, efficiency, and consistency of assembly positioning, thus meeting the requirements of advanced manufacturing for high reliability, high efficiency, and high stability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1This is a flowchart illustrating the part assembly and positioning method provided in this application.

[0018] Figure 2 This is a schematic diagram of the visual positioning scene layout provided in this application.

[0019] Figure 3 This is the visualization effect of the contour of a single ROI region calculated during the template creation process provided in this application.

[0020] Figure 4 This is one of the flowcharts illustrating the template creation process provided in this application.

[0021] Figure 5 This is the second flowchart illustrating the template creation process provided in this application.

[0022] Figure 6 This is a schematic diagram of the target region recognition result based on the visual model provided in this application.

[0023] Figure 7 This is one of the flowcharts illustrating the actual matching detection process provided in this application.

[0024] Figure 8 This is the second flowchart of the actual matching detection process provided in this application.

[0025] Figure 9 This is a schematic diagram of the offset annotation of the actual matching detection results provided in this application.

[0026] Figure 10 This is a schematic diagram of the assembly adjustment guide interface provided in this application.

[0027] Figure 11 This is a structural schematic diagram of the parts assembly positioning system provided in this application.

[0028] Figure 12 This is a schematic diagram of the structure of the electronic device provided in this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. In the description of this specification, the reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and combine the different embodiments or examples and the features of different embodiments or examples described in this specification. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein.

[0031] The following is combined with Figures 1-12 This application describes the part assembly and positioning methods, systems, equipment, media, and procedures provided.

[0032] The part assembly positioning method provided in this application can be implemented based on a part assembly positioning system. Therefore, this application uses the part assembly positioning system as the execution subject to describe the part assembly positioning method.

[0033] It should be noted that the part assembly positioning method provided in this application has good versatility and cross-scenario adaptability, and can be widely applied in various precision manufacturing scenarios with strict requirements for assembly position accuracy, process consistency, and quality control. This method is not limited to a specific part or a single industry, but rather provides a standardized visual guidance mechanism that can flexibly adapt to part assembly tasks of different specifications and structures according to different industrial needs, effectively overcoming the operational difficulties of traditional manual assembly in complex structures or confined spaces.

[0034] For example, in wafer storage and transport carriers in the semiconductor manufacturing field, the assembly of wafer slots is crucial, directly affecting the positioning accuracy and stress state of the wafer. Key parameters such as slot pitch, parallelism, and relative positional error significantly impact the stability and safety of the wafer during handling and storage. Furthermore, wafer slot assembly involves not only mechanical precision control but also meeting cleanliness requirements and suppressing the risk of micro-contamination, making it a critical manufacturing step with strict constraints on both the process environment and assembly quality. Traditional wafer slot assembly often relies on manual or semi-manual methods. Due to the narrow internal space and enclosed structure of the wafer cell, measurement and calibration methods are limited during assembly, making it difficult to effectively monitor critical dimensions, resulting in inconsistent assembly and low accuracy. To address this deficiency, the component assembly and positioning method provided in this application can be specifically applied to the assembly process of slots within wafer cells, enabling rapid and accurate calibration of key slot parameters and stable improvement in assembly quality, thus supporting the stringent requirements for high reliability and consistency in advanced manufacturing environments.

[0035] Of course, the wafer slot assembly listed here is only a typical application example of this application, used to help illustrate the feasibility of this application.

[0036] Figure 1 This is a flowchart illustrating the part assembly and positioning method provided in this application.

[0037] like Figure 1 As shown, the part assembly and positioning method includes the following steps: Step 101: Obtain the assembly image of the part to be inspected in the current assembly state; Step 102: Match the assembly image of the part to be detected with the standard part assembly template, and calculate the positional offset of the assembly area of ​​the part to be detected relative to the standard part assembly area; the standard part assembly template is constructed in advance based on the geometric feature extraction of the part assembly image under standard assembly state; Step 103: Generate assembly adjustment guidance content based on the position offset.

[0038] Specifically, image acquisition equipment is pre-positioned at the parts assembly site to ensure that its image acquisition range covers the assembly area of ​​all parts to be assembled. This image acquisition equipment may include, but is not limited to, cameras, intelligent vision sensors, or other devices capable of acquiring visual information. The parameters of the image acquisition equipment can be flexibly configured according to the spatial layout of the assembly site, accuracy requirements, and part characteristics.

[0039] In one feasible embodiment, the image is acquired by at least one camera; the camera is fixedly mounted by a camera bracket, which is fixedly connected to the mounting base plate to maintain a constant pose of the camera relative to the mounting base plate.

[0040] Figure 2 This is a schematic diagram of the visual positioning scene layout provided in this application. For example... Figure 2 As shown, in the wafer slot assembly scenario, 210 is a camera, which is fixed on the camera bracket 211 facing the part; the camera bracket is also fixed to the assembly substrate 212 to ensure that the position of the camera relative to the assembly substrate is constant; 213 is the wafer slot to be installed. The assembly process involves installing the wafer slot on the assembly substrate (i.e., the wafer cell side plate) while ensuring parameters such as slot spacing and parallelism. Figure 2 In this system, the camera can capture image information of the entire assembly area, including the wafer slots. The captured images are transmitted to the system's processing unit for subsequent calculations. Multiple wafer slots can be mounted on the assembly substrate, and a single camera can be configured to capture images covering multiple wafer slots in the same column, reducing the number of cameras required. If it is necessary to capture images of multiple columns of wafer slots simultaneously, multiple cameras can be configured, each capturing images of different columns, to achieve synchronous assembly and positioning of multiple columns of components, improving efficiency and adapting to large-size, multi-slot wafer assembly scenarios.

[0041] The higher the camera resolution, the higher the accuracy of assembly positioning. After complete assembly and inspection, the camera bracket can be removed without affecting the normal use of the wafer cassette.

[0042] After setting up the image acquisition equipment on site, the assembly images of the parts in the standard assembly state are acquired in advance using the image acquisition equipment. By selecting the Region of Interest (ROI), the key assembly feature areas are determined, and geometric features are extracted from these areas, such as extracting the outer contour of the target, calculating the minimum bounding rectangle, and obtaining the centroid or key point coordinates of the contour. The extracted set feature data is saved to the standard part assembly template to form a reference benchmark representing the standard assembly position.

[0043] In actual assembly inspection, an image acquisition device captures the assembly image of the part to be inspected in its current assembly state. The acquired image is then matched with a standard part assembly template. This matching process can employ feature-based matching algorithms (such as contour matching or feature point matching) or incorporate deep learning vision models (such as DINO-X or Grounding DINO) to achieve generalized recognition and localization of the target part. The positional offset is quantitatively obtained by calculating the differences in position and orientation between the assembly area in the image of the part to be inspected and the corresponding area in the standard part assembly template. This offset can be expressed as translation (such as X / Y displacement), rotation angle, or a combination of both, and can be specifically expressed in pixel coordinates or multi-dimensional parameters depending on the assembly accuracy requirements.

[0044] Based on the calculated positional offset, the system can automatically generate intuitive and operable assembly adjustment guidelines to assist in assembly correction. These guidelines can take various forms, such as graphically marking the offset direction and adjustment range on the original image (e.g., arrow indicators, numerical prompts); or outputting specific adjustment instructions in text or voice format (e.g., moving N micrometers in the positive X direction, adjusting M degrees clockwise). These guidelines can directly point to the part requiring adjustment, clearly defining the correction direction and amount, thereby reducing repeated trial adjustments and improving assembly efficiency and accuracy.

[0045] Offset information and adjustment guidelines can be simultaneously displayed on the assembly site's interface for assembly operators to make adjustments. Alternatively, the adjustment data can be directly transmitted to the automated assembly mechanism, which will then directly complete the position adjustment, thus completing the positioning process for this part assembly. By repeating the above steps, the assembly and positioning of all parts can be completed one by one, ensuring that the assembly accuracy of all parts meets the requirements.

[0046] The part assembly positioning method provided in this application acquires an assembly image of the part to be inspected in the current assembly state and matches it with a standard part assembly template pre-built based on a standard assembly state. This method can accurately calculate the positional offset of the assembly area of ​​the part to be inspected relative to the standard assembly state, providing a quantitative basis for assembly adjustment. Then, based on the positional offset, it generates assembly adjustment guidance content, providing operators with an intuitive and clear assembly adjustment method. This effectively reduces reliance on operator experience and significantly improves the accuracy, efficiency, and consistency of assembly positioning, thus meeting the requirements of advanced manufacturing for high reliability, high efficiency, and high stability.

[0047] In one embodiment, the standard parts assembly template is pre-constructed in the following manner: Obtain assembly images of parts in a standard assembly state; Based on a visual algorithm, geometric features are extracted from at least one standard part assembly region in the part assembly image to obtain the geometric feature parameters of the standard part assembly region. The standard part assembly area and its corresponding geometric feature parameters are stored as template data in the standard part assembly template.

[0048] Specifically, before actual assembly, the parts are assembled in advance under standard assembly conditions according to the design documents and assembly process requirements of the product to be assembled. The position and angle of each part conform to the design standards of the final assembly. Then, the assembly image of the parts under this standard assembly state is captured by an image acquisition device as a reference image.

[0049] After obtaining the assembly images of the parts in a standard assembly state, the assembly images are preprocessed to remove background interference information and retain only the relevant pixel content of the assembly area. Then, visual algorithms such as edge detection and contour extraction are used to accurately identify each standard part assembly area and extract geometric feature parameters such as position coordinates, center point position, and angle information of each standard part assembly area.

[0050] Finally, the identification information and corresponding geometric feature parameters of each standard part assembly area are bound together and stored in the initialized template library according to the assembly order to construct a standard part assembly template, which facilitates the quick calling and matching of the corresponding standard template during the actual assembly and inspection process.

[0051] This application embodiment uses visual algorithms to extract geometric feature parameters and construct a high-precision visual template as a benchmark for subsequent assembly positioning and error assessment. Then, through visual template matching and offset calculation, the assembly position is corrected. Compared with manual positioning and calibration, this method can effectively avoid the experience error of assembly workers and significantly improve the accuracy and consistency of part assembly positioning.

[0052] In one embodiment, the step of extracting geometric features from at least one standard part assembly region in the part assembly image based on a visual algorithm to obtain geometric feature parameters of the standard part assembly region includes: Identify at least one region of interest in the part assembly image; The region of interest is segmented into foreground and background to obtain a binary image that distinguishes the assembly area of ​​the standard parts from the background. Based on the binary classification image, the outer contour of the standard part assembly area is extracted, and the minimum bounding rectangle of the outer contour is calculated. The geometric feature parameters of the minimum bounding rectangle are determined as the geometric feature parameters of the standard part assembly area.

[0053] Specifically, since assembly images of parts often contain a large number of background areas unrelated to the assembly, directly processing the entire image would increase computational load and reduce feature extraction efficiency. Therefore, it is necessary to first define regions containing key assembly features in the image, designating them as regions of interest (ROIs). Subsequent processing is then performed only on these regions, effectively reducing redundant computation. Each ROI corresponds to a specific assembly region, avoiding feature interference between different assembly regions.

[0054] Regions of interest (ROIs) in an image can be determined manually or automatically using object detection algorithms. The system initializes the image and related variables, displays the original image on the interface, and allows the operator to select the region containing the standard part assembly location using the mouse. The system then responds to the mouse input and selects the ROI on the image. Alternatively, a pre-trained object detection model can infer from the input image and directly output candidate boxes containing the standard part assembly location, automatically defining the ROI. This entire process requires no manual intervention and is suitable for batch image processing scenarios.

[0055] After selecting the region of interest (ROI), foreground and background segmentation is performed to obtain a binary classification image. Traditional image processing methods can be used, sequentially performing operations such as grayscale conversion, Gaussian blurring, and binarization on the ROI to enhance the stability of target features by utilizing pixel grayscale differences, thereby achieving effective separation of foreground and background. Alternatively, a vision-based approach can be employed, incorporating deep learning models such as DINO-X, Grounding DINO, or Set-of-Mark (SoM). Leveraging the recognition capabilities of vision models, generalized recognition of any part target can be achieved, improving universality.

[0056] After obtaining the binary classification image, the difference in grayscale values ​​between the standard part assembly area and the background is significantly amplified. The outer contour of the standard part assembly area is then completely extracted using an edge tracking algorithm, and the minimum bounding rectangle that encloses the entire outer contour is calculated.

[0057] The geometry of the standard part assembly area is quantified using the minimum bounding rectangle. Therefore, the geometric characteristic parameters of the minimum bounding rectangle are used as the geometric characteristic parameters of the standard part assembly area. For example, the center coordinates of the minimum bounding rectangle are used as the center point of the standard part assembly area, the deflection angle of the long side of the minimum bounding rectangle are used as the angle information of the standard part assembly area, and the coordinates of the four vertices of the minimum bounding rectangle are used as the position coordinates of the area.

[0058] It should be noted that finding the outer contour and the smallest bounding rectangle can be replaced by calculating the centroid position of the contour and using the centroid position of the contour as a geometric feature parameter.

[0059] The identification information and corresponding geometric feature parameters of each standard part assembly area are bound together and stored in the initialized template library according to the assembly order to construct a standard part assembly template. The template can contain the following: Source image: test3.jpg Total ROI: 6 ROI 1 - Coordinates (x, y, w, h): 608, 364, 184, 80 -Center (Global): 663.5, 406.5 - Angle: -90.0° -Outline (Global): [719,419],[608,419],[608,394],[719,394] ROI 2 - Coordinates (x, y, w, h): 604, 476, 192, 84 -Center (Global): 661.5, 519.9 - Angle: -89.48° -Outline (Global): [718,530],[604,528],[604,509],[719,510] ... The template format can be set according to the actual process requirements.

[0060] This application embodiment determines the region of interest in the part assembly image and performs foreground and background segmentation on the region, which can effectively separate the standard part assembly area from the background and obtain a clear binary classification image. Then, based on the binary classification image, the outer contour of the standard part assembly area is extracted and its minimum bounding rectangle is calculated, thereby obtaining accurate geometric feature parameters. This provides a high-precision reference template for subsequent assembly positioning, effectively improving the accuracy and reliability of template construction and ensuring the accuracy and consistency of assembly positioning.

[0061] In one embodiment, after obtaining the geometric feature parameters of the standard part assembly area, the method further includes: Determine whether the assembly area of ​​the standard part and its corresponding geometric feature parameters meet the preset process conditions; If the preset process conditions are met, the standard part assembly area and its corresponding geometric feature parameters are stored as template data in the standard part assembly template. If the preset process conditions are not met, return to the step of determining at least one region of interest in the part assembly image.

[0062] Specifically, after successfully extracting the geometric feature parameters of the standard part assembly area, the data is not directly stored in the database. Instead, a verification and feedback mechanism based on preset process conditions is added. The preset process conditions can be pre-set according to the assembly accuracy requirements of the target part and the processing capabilities of the compatible assembly equipment. For example, the allowable error range of the geometric feature parameters and the threshold for the integrity of the standard area contour can be set.

[0063] The standard part assembly area and its corresponding geometric feature parameters are compared with preset process conditions. If the preset process conditions are met, the data is confirmed as valid reference data, and the identification information of the corresponding standard part assembly area and its corresponding geometric feature parameters are stored as reliable template data in the standard part assembly template library. If the preset process conditions are not met, the data is filtered out, and a process rollback instruction is triggered, returning to the step of determining the region of interest, re-selecting or adjusting the region of interest until the extracted features fully conform to the standard.

[0064] The embodiments of this application adopt a verification and feedback mechanism based on preset process conditions, which effectively avoids the template failure problem caused by poor initial image quality or incorrect feature extraction, and ensures the accuracy and reliability of subsequent assembly inspection from the source.

[0065] Figure 3 This is the visualization effect of the contour calculated for a single ROI region during the template creation process provided in this application. Figure 4 This is one of the flowcharts illustrating the template creation process provided in this application. Figure 5 This is the second flowchart illustrating the template creation process provided in this application. Figure 6 This is a schematic diagram of the target region recognition result based on the visual model provided in this application. Combined with... Figure 3 and Figure 4 In one feasible embodiment, the template creation process first initializes the image and related variables, synchronously displaying the original image and the saved Region of Interest (ROI) on the screen for manual reference. Then, the operator uses the mouse to select the region of interest related to part assembly and controls the flow according to key commands (e.g., pressing "Q" to cancel the current selection, pressing "S" to save, or pressing "Enter" to confirm and proceed to the next step). After determining the ROI, the local area is cropped and traditional image processing operations such as grayscale conversion, Gaussian blurring, and binarization are performed sequentially to enhance foreground features. Next, geometric feature parameters are obtained by finding the outer contour and calculating its minimum bounding rectangle. At this point, the rectangle parameters are judged in real time according to preset process conditions. If the conditions are not met, the process is rolled back for readjustment. If the verification is successful, the image of the region and its corresponding geometric feature parameters (such as position, size, angle, etc.) are packaged and saved as a standard part assembly template, thus completing the entire process of visual template construction. Figure 5 As shown, this processing flow is the same as described above, except that traditional image processing operations are replaced by visual model segmentation processing. Figure 6 It is the result of target region recognition based on a visual model.

[0066] In one embodiment, matching the assembly image of the part to be inspected with a standard part assembly template and calculating the positional offset of the assembly area of ​​the part to be inspected relative to the assembly area of ​​the standard part includes: Based on a visual algorithm, geometric features are extracted from at least one assembly region of the part to be detected in the assembly image of the part to be detected to obtain geometric feature parameters of the assembly region of the part to be detected. According to the assembly sequence of the parts, the positional deviation of the geometric feature parameters of the assembly area of ​​the part to be tested and the geometric feature parameters of the corresponding standard part assembly area is calculated to obtain the positional offset of the assembly area of ​​the part to be tested relative to the standard part assembly area.

[0067] Specifically, based on visual algorithms, geometric features are extracted from each assembly area of ​​the parts to be inspected in the assembly image of the parts to be inspected, and geometric feature parameters such as their actual position coordinates, center point position and angle information are obtained.

[0068] Then, following the predetermined assembly sequence, the positional deviation of the geometric feature parameters of the assembly area of ​​the part to be inspected and the corresponding geometric feature parameters of the assembly area of ​​the standard part is calculated. The offset can be determined by directly reading and comparing the relative difference between the two sets of parameters.

[0069] Following a predetermined assembly sequence, the geometric feature parameters of each assembly area of ​​the part to be inspected are compared item by item with the geometric feature parameters of the corresponding standard part assembly area stored in the template. The coordinate difference between the two in the pixel coordinate system is calculated as the position offset. Angle differences can also be added as part of the position offset. This position offset reflects the degree of translational and rotational offset of each assembly area of ​​the part to be inspected relative to the standard assembly state in the horizontal and vertical directions under the current assembly state.

[0070] Figure 7 This is one of the flowcharts illustrating the actual matching detection process provided in this application. Figure 8 This is the second flowchart illustrating the actual matching detection process provided in this application. For example... Figure 7As shown, in one feasible embodiment, after the actual matching and detection process begins, a standard part assembly template and an image of the parts to be detected assembly are first loaded. Then, according to a predetermined part assembly order, each region of interest is cropped sequentially from the image of the parts to be detected assembly. Traditional image processing operations such as grayscale conversion, Gaussian blurring, and binarization are then performed on each cropped region image to enhance foreground features. Next, geometric feature parameters are obtained by finding the outer contour and calculating its minimum bounding rectangle. Subsequently, it is determined whether all regions of interest have been detected: if not, the process returns to cropping the next region of interest and continues the above processing flow; if all regions have been detected, all detection results are matched and calculated with the corresponding geometric feature parameters in the standard part assembly template to obtain the positional offset of each assembly region relative to the template. The detection results and corresponding image data are then saved, finally ending the entire matching and detection process. Figure 8 As shown, the processing flow is the same as above, except that traditional image processing operations are replaced by visual model segmentation processing.

[0071] Figure 9 This is a schematic diagram illustrating the offset annotation of the actual matching detection results provided in this application. For example... Figure 9 As shown, the assembly image of the parts to be inspected contains six regions of interest (ROIs 1 to 6), each corresponding to one assembly area to be inspected. In the figure, yellow boxes indicate the selected areas of each ROI, red boxes indicate the currently detected target contour position, and green boxes indicate the offset of the actual position relative to the reference position. The blue text to the right of each ROI indicates the specific offset value, where Top represents the vertical offset (positive values ​​indicate downward offset, negative values ​​indicate upward offset), and Left represents the horizontal offset (positive values ​​indicate rightward offset, negative values ​​indicate leftward offset). For example, ROI 2 has a vertical offset of 3.00, indicating that the assembly position is offset downwards by 3 pixels relative to the standard position; ROI 4 has a vertical offset of -2.00, indicating an upward offset of 2 pixels; ROI 5 has a horizontal offset of -7.00, indicating a leftward offset of 7 pixels; the offsets of the remaining ROIs are all 0.00, indicating that their positions are consistent with the standard template. With this offset marking, operators can intuitively and accurately know the current assembly deviation of each slot, and thus make targeted adjustments.

[0072] This application embodiment extracts geometric features from the assembly area of ​​the parts to be inspected in the assembly image of the parts to be inspected based on a visual algorithm. It can obtain the precise geometric feature parameters of each assembly area of ​​the parts in the current assembly state. Then, according to the assembly order of the parts, the positional deviation of the currently detected geometric feature parameters is calculated with the corresponding geometric feature parameters in the standard part assembly template. This yields the positional offset of each assembly area of ​​the parts to be inspected relative to the standard assembly state, realizing the quantitative detection and accurate evaluation of the current assembly deviation. This provides accurate and reliable data for subsequent assembly adjustments and effectively improves the accuracy and consistency of assembly positioning.

[0073] In one embodiment, generating assembly adjustment guidance content based on the position offset includes: Based on the position offset, generate assembly adjustment guidance information; The assembly adjustment guidance information is displayed overlaid on the assembly image of the part to be inspected in the form of directional arrows and numerical labels, generating a visual assembly adjustment guidance interface.

[0074] Specifically, based on the calculated positional offset, assembly adjustment guidance information is generated for the component assembly areas that need adjustment. This guidance information includes the offset direction and amount of the component assembly areas; for example, ROI 4 needs to be moved downwards by 2.00 pixels, and ROI 5 needs to be moved to the right by 7.00 pixels, providing operators with clear and quantifiable adjustment guidelines. It can also include the angular adjustment direction and amount of the component assembly areas; for example, ROI 4 needs to be rotated clockwise by 1.5 degrees, and ROI 5 needs to be rotated counterclockwise by 0.8 degrees, supporting visual guidance for both positional translation deviations and angular deflection deviations.

[0075] Then, the assembly adjustment guidance information is overlaid on the original assembly image of the part to be inspected in the form of directional arrows and numerical labels, generating a visual assembly adjustment guidance interface and pushing it to the display interface. Figure 10 This is a schematic diagram of the assembly adjustment guide interface provided in this application, such as... Figure 10As shown, in the assembly image of the parts to be inspected, arrows indicate the offset direction at the corresponding position of each ROI, and numerical values ​​are used to indicate the offset amount. This allows operators to intuitively see the positional deviation of each current assembly position and the direction and magnitude of adjustment required. For example, for ROI 4, which needs to be moved downwards, an upward arrow and a numerical label of "-2.00" are displayed at its corresponding position; for ROI 5, which needs to be moved to the right, a left arrow and a numerical label of "-7.00" are displayed. Of course, rotation direction arrows and angle values ​​can also be marked at the position of each ROI that needs angle adjustment. For example, a clockwise rotating ROI is marked with a clockwise arc arrow and a corresponding positive angle value, and a counterclockwise rotating ROI is marked with a counterclockwise arc arrow and a corresponding negative angle value.

[0076] This application's embodiments transform abstract offset data into intuitive visual guidance information, allowing operators to quickly and accurately complete assembly adjustments without additional calculations or judgments. This significantly reduces reliance on operator experience and improves assembly efficiency and adjustment accuracy.

[0077] The above method uses a non-contact visual inspection approach, which can achieve effective measurement and feedback control within a limited space, greatly reducing the need for human intervention.

[0078] Figure 11 This is a structural schematic diagram of the parts assembly positioning system provided in this application.

[0079] like Figure 11 As shown, the parts assembly positioning system includes: The acquisition module 1110 is used to acquire the assembly image of the part to be inspected in the current assembly state; The matching module 1120 is used to match the assembly image of the part to be detected with the standard part assembly template, and calculate the positional offset of the assembly area of ​​the part to be detected relative to the standard part assembly area; the standard part assembly template is constructed based on the geometric feature extraction of the part assembly image under standard assembly state. The assembly adjustment guidance module 1130 is used to generate assembly adjustment guidance content based on the position offset.

[0080] The parts assembly positioning system provided in this application acquires an assembly image of the parts to be inspected in the current assembly state and matches it with a standard parts assembly template pre-built based on a standard assembly state. This allows for precise calculation of the positional offset of the assembly area of ​​the parts to be inspected relative to the standard assembly state, providing a quantitative basis for assembly adjustment. Furthermore, it generates assembly adjustment guidance content based on the positional offset, providing operators with an intuitive and clear method for assembly adjustment. This effectively reduces reliance on operator experience and significantly improves the accuracy, efficiency, and consistency of assembly positioning, thus meeting the requirements of advanced manufacturing for high reliability, high efficiency, and high stability.

[0081] In one embodiment, the part assembly positioning system is further used for: Obtain assembly images of parts in a standard assembly state; Based on a visual algorithm, geometric features are extracted from at least one standard part assembly region in the part assembly image to obtain the geometric feature parameters of the standard part assembly region. The standard part assembly area and its corresponding geometric feature parameters are stored as template data in the standard part assembly template.

[0082] In one embodiment, the part assembly positioning system is further used for: Identify at least one region of interest in the part assembly image; The region of interest is segmented into foreground and background to obtain a binary image that distinguishes the assembly area of ​​the standard parts from the background. Based on the binary classification image, the outer contour of the standard part assembly area is extracted, and the minimum bounding rectangle of the outer contour is calculated. The geometric feature parameters of the minimum bounding rectangle are determined as the geometric feature parameters of the standard part assembly area.

[0083] In one embodiment, the part assembly positioning system is further used for: Determine whether the assembly area of ​​the standard part and its corresponding geometric feature parameters meet the preset process conditions; If the preset process conditions are met, the standard part assembly area and its corresponding geometric feature parameters are stored as template data in the standard part assembly template. If the preset process conditions are not met, return to the step of determining at least one region of interest in the part assembly image.

[0084] In one embodiment, the matching module 1120 is further configured to: Based on a visual algorithm, geometric features are extracted from at least one assembly region of the part to be detected in the assembly image of the part to be detected to obtain geometric feature parameters of the assembly region of the part to be detected. According to the assembly sequence of the parts, the positional deviation of the geometric feature parameters of the assembly area of ​​the part to be tested and the geometric feature parameters of the corresponding standard part assembly area is calculated to obtain the positional offset of the assembly area of ​​the part to be tested relative to the standard part assembly area.

[0085] In one embodiment, the assembly adjustment guide module 1130 is further configured to: Based on the position offset, generate assembly adjustment guidance information; The assembly adjustment guidance information is displayed overlaid on the assembly image of the part to be inspected in the form of directional arrows and numerical labels, generating a visual assembly adjustment guidance interface.

[0086] It should be noted that the parts assembly positioning system provided in this application can execute the parts assembly positioning method described in any of the above embodiments during actual operation, which will not be elaborated in this embodiment.

[0087] Figure 12 This is a schematic diagram of the structure of the electronic device provided in this application, such as... Figure 12 As shown, the electronic device may include a processor 1210, a communications interface 1220, a memory 1230, and a communication bus 1240, wherein the processor 1210, the communications interface 1220, and the memory 1230 communicate with each other via the communication bus 1240. The processor 1210 can call logical instructions in the memory 1230 to execute a part assembly positioning method. This method includes: acquiring an assembly image of the part to be inspected in the current assembly state; matching the assembly image of the part to be inspected with a standard part assembly template to calculate the positional offset of the assembly area of ​​the part to be inspected relative to the standard part assembly area; the standard part assembly template is pre-constructed based on geometric feature extraction of the part assembly image in a standard assembly state; and generating assembly adjustment guidance content based on the positional offset.

[0088] Furthermore, the logical instructions in the aforementioned memory 1230 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] On the other hand, this application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions, and when the program instructions are executed by a computer, the computer can execute the part assembly positioning method provided in the above embodiments. The method includes: acquiring an assembly image of a part to be inspected in the current assembly state; matching the assembly image of the part to be inspected with a standard part assembly template to calculate the positional offset of the assembly area of ​​the part to be inspected relative to the standard part assembly area; the standard part assembly template is constructed in advance based on geometric feature extraction of the part assembly image in the standard assembly state; and generating assembly adjustment guidance content according to the positional offset.

[0090] In another aspect, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program is implemented to perform the part assembly positioning method provided in the above embodiments. The method includes: acquiring an assembly image of a part to be inspected in the current assembly state; matching the assembly image of the part to be inspected with a standard part assembly template to calculate the positional offset of the assembly area of ​​the part to be inspected relative to the standard part assembly area; the standard part assembly template is constructed in advance based on geometric feature extraction of the part assembly image in the standard assembly state; and generating assembly adjustment guidance content according to the positional offset.

[0091] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0092] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0093] 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 them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for assembling and positioning parts, characterized in that, The part assembly and positioning method includes: Acquire the assembly image of the part to be inspected in its current assembly state; The assembly image of the part to be detected is matched with the standard part assembly template to calculate the positional offset of the assembly area of ​​the part to be detected relative to the standard part assembly area; the standard part assembly template is constructed in advance based on the geometric feature extraction of the part assembly image under standard assembly state; Based on the stated position offset, generate assembly adjustment guidance content.

2. The part assembly and positioning method according to claim 1, characterized in that, The standard parts assembly template is pre-constructed in the following way: Obtain assembly images of parts in a standard assembly state; Based on a visual algorithm, geometric features are extracted from at least one standard part assembly region in the part assembly image to obtain the geometric feature parameters of the standard part assembly region. The standard part assembly area and its corresponding geometric feature parameters are stored as template data in the standard part assembly template.

3. The part assembly and positioning method according to claim 2, characterized in that, The vision-based algorithm extracts geometric features from at least one standard part assembly region in the part assembly image to obtain geometric feature parameters of the standard part assembly region, including: Identify at least one region of interest in the part assembly image; The region of interest is segmented into foreground and background to obtain a binary image that distinguishes the assembly area of ​​the standard parts from the background. Based on the binary classification image, the outer contour of the standard part assembly area is extracted, and the minimum bounding rectangle of the outer contour is calculated. The geometric feature parameters of the minimum bounding rectangle are determined as the geometric feature parameters of the standard part assembly area.

4. The part assembly and positioning method according to claim 3, characterized in that, After obtaining the geometric feature parameters of the standard part assembly area, the process also includes: Determine whether the assembly area of ​​the standard part and its corresponding geometric feature parameters meet the preset process conditions; If the preset process conditions are met, the standard part assembly area and its corresponding geometric feature parameters are stored as template data in the standard part assembly template. If the preset process conditions are not met, return to the step of determining at least one region of interest in the part assembly image.

5. The part assembly and positioning method according to claim 2, characterized in that, The step of matching the assembly image of the part to be inspected with the standard part assembly template and calculating the positional offset of the assembly area of ​​the part to be inspected relative to the standard part assembly area includes: Based on a visual algorithm, geometric features are extracted from at least one assembly region of the part to be detected in the assembly image of the part to be detected to obtain geometric feature parameters of the assembly region of the part to be detected. According to the assembly sequence of the parts, the positional deviation of the geometric feature parameters of the assembly area of ​​the part to be tested and the geometric feature parameters of the corresponding standard part assembly area is calculated to obtain the positional offset of the assembly area of ​​the part to be tested relative to the standard part assembly area.

6. The part assembly and positioning method according to any one of claims 1 to 5, characterized in that, The step of generating assembly adjustment guidance content based on the position offset includes: Based on the position offset, generate assembly adjustment guidance information; The assembly adjustment guidance information is displayed overlaid on the assembly image of the part to be inspected in the form of directional arrows and numerical labels, generating a visual assembly adjustment guidance interface.

7. A parts assembly positioning system, characterized in that, The parts assembly and positioning system includes: The acquisition module is used to acquire the assembly image of the part to be inspected in the current assembly state; The matching module is used to match the assembly image of the part to be detected with the standard part assembly template, and calculate the positional offset of the assembly area of ​​the part to be detected relative to the standard part assembly area; the standard part assembly template is constructed based on the geometric feature extraction of the part assembly image under standard assembly state. An assembly adjustment guidance module is used to generate assembly adjustment guidance content based on the position offset.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the part assembly and positioning method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium, wherein a computer program is stored on the non-transitory computer-readable storage medium, characterized in that, When the computer program is executed by the processor, it implements the steps of the part assembly and positioning method as described in any one of claims 1 to 6.

10. A computer program product, the computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the part assembly and positioning method as described in any one of claims 1 to 6.

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