CN101788805A - High-accuracy machine vision two-dimensional positioning method based on motion servo correction - Google Patents

High-accuracy machine vision two-dimensional positioning method based on motion servo correction Download PDF

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Publication number
CN101788805A
CN101788805A CN201010103482A CN201010103482A CN101788805A CN 101788805 A CN101788805 A CN 101788805A CN 201010103482 A CN201010103482 A CN 201010103482A CN 201010103482 A CN201010103482 A CN 201010103482A CN 101788805 A CN101788805 A CN 101788805A
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China
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camera
coordinate
location
geometric
geometric properties
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CN201010103482A
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Chinese (zh)
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CN101788805B (en
Inventor
柳宁
王高
叶文生
王思华
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暨南大学
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Publication of CN101788805B publication Critical patent/CN101788805B/en

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Abstract

The invention discloses a high-accuracy machine vision two-dimensional positioning method based on motion servo correction, comprising the following steps: fixedly connecting a camera to the moving machine head of equipment such as a laser cutting machine; selecting a geometric figure on a processed object as a positioning geometric characteristic; moving the camera above the positioning geometric characteristic by the motion controller of the equipment; acquiring the digital image of the positioning geometric characteristic; computing a geometric center coordinate by a template matching or edge detection method; then taking the center coordinate as the destination address of the machine head motion; moving the camera to enable the axial line of the camera to coincide with the coordinate; reacquiring the positioning geometric characteristic image, and recomputing the center coordinate; and if the deviation between the center coordinate obtained by recomputation and the current coordinate of the camera axial line is greater than an allowable value, moving the machine head again, acquiring an image and computing the center coordinate, and iterating until a satisfactory accuracy is achieved. The positioning method has high positioning accuracy and simultaneously has low performance requirements for the optical devices of the camera.

Description

A kind of high-accuracy machine vision two-dimensional positioning method based on motion servo correction
Technical field
The invention belongs to computer control field, particularly fields of numeric control technique, be specifically related to a kind of high-accuracy machine vision two-dimensional positioning method, be specially adapted to equipment such as laser cutting machine, laser marking machine based on motion servo correction.
Background technology
Machine vision adopts computer image processing technology, the geometric configuration of identifying object, and according to the geomery and the position coordinates of the proportionate relationship calculating object of the geometric properties of object and pixel.Numerical control device adds need determine the position of workpiece in device coordinate system man-hour, and present method is artificial location and machine vision location, and artificial location efficiency is low, bigger to technical level of operators and job morale dependence; Machine vision location automaticity height is when carrying out precision positioning, very high, expensive to the optical device requirement of Vision Builder for Automated Inspection.
Guarantee the precision of optical system, or adopt high-quality camera lens, or optical correction is carried out in the whole visual field of camera lens, to eliminate the pattern distortion of optical system, the former cost is higher, and the latter operates cumbersome, and higher to the coherence request of processing object.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of high-accuracy machine vision two-dimensional positioning method based on motion servo correction is provided, the inventive method can obtain high-precision two-dimensional localization effect based on the optical device of general precision.
Purpose of the present invention realizes by the following technical programs:
A kind of high-accuracy machine vision two-dimensional positioning method based on motion servo correction is finished by the motion head cooperation of camera, image processor, motion controller and process equipment.Camera is fixed on the motion head of process equipment, geometric figure on the selected workpiece is as the location geometric properties, the motion controller drives camera arrives the precalculated position, camera obtains the digital image information of location geometric properties, image processor adopts template matching algorithm or the coordinate of edge detection method compute location geometric properties in viewing field of camera, obtain locating the coordinate of geometric properties in equipment by coordinate transform, image processor sends this coordinate to the motion controller of equipment, the motion controller mobile camera, this camera axis is overlapped with the geometric center coordinate of location geometric properties, camera obtains the image of location geometric properties once more and calculates its geometric center coordinate, when the deviation of the current coordinate of this coordinate and camera axis during greater than allowable value, repeat above-mentioned action, up to satisfying default precision conditions.Image processor is taken turns the location geometric properties coordinate of calculating gained and the current location of camera axis according to last, calculates the coordinate of processing object in the machine tool coordinate system, and output.
Than prior art, advantageous effect of the present invention is as follows:
In general, the pattern distortion of camera lens near axis is less, this method is utilized this principle exactly, camera and motion head are connected firmly, after Vision Builder for Automated Inspection calculates the centre coordinate of location geometric properties, mobile camera makes its axis overlap with this coordinate, again obtain image again, calculate new geometric center coordinate, iterate, allow the camera axis fully approach the geometric center of location geometric properties, with this bearing accuracy that improves Vision Builder for Automated Inspection, reduce the influence of optical system distortion, this method requires relatively low to the optical device of system, but bearing accuracy really can be very high, and great practice meaning is arranged.
Description of drawings
Fig. 1 is applied to the synoptic diagram of the specific embodiment of laser cutting machine for the present invention one;
Fig. 2 is applied to the method flow diagram of the specific embodiment of laser cutting machine for the present invention one.
Embodiment
As shown in Figure 1, camera connects firmly on the crossbeam slide unit (motion head), this slide unit can X and Y direction in horizontal stand move, geometric figure on the selected processing object is as the location geometric properties, the Position Approximate of equipment precognition location geometric properties, the motion controller of equipment arrives geometric properties top, location with mobile camera moving, camera obtains the digital picture of location geometric properties, adopt the geometric center coordinate of the method compute location geometric properties of template matches or rim detection, again with the destination address of this centre coordinate as head motion, mobile camera makes the camera axis overlap with this coordinate, and obtain again and locate geometric properties image, the centre coordinate of computational geometry feature again.If recomputate the location geometric properties centre coordinate of gained and current camera axis line coordinates deviation greater than allowable value, re-move head, obtain image, calculate this centre coordinate, iteration like this is till reaching satisfied precision.
As shown in Figure 2, the geometric figure on the selected processing object is as the location geometric properties, and the process equipment precognition is located the position coordinates of geometric properties, and wherein, its concrete steps of method of the position coordinates of described precognition location geometric properties are:
1) the motion controller mobile camera of process equipment, the camera axis is overlapped with the coordinate of location geometric properties geometric center, camera obtains the image of location geometric properties, adopts the geometric center coordinate of the method compute location geometric properties of template matches or rim detection;
2) computing camera axis current position coordinates and previous step are calculated the deviation of gained geometric center coordinate suddenly, when deviation during greater than allowable value, repeating step 1) and step 2), up to deviation less than allowable value;
The geometric center coordinate transformation of last location geometric properties of taking turns is become the coordinate of processing object in machine tool and output.
As mentioned above, just can realize the present invention preferably, the foregoing description is preferred embodiment of the present invention only, is not to be used for limiting practical range of the present invention; Be that all equalizations of doing according to content of the present invention change and modification, all contained by claim of the present invention scope required for protection.

Claims (4)

1. high-accuracy machine vision two-dimensional positioning method based on motion servo correction, it is characterized in that, geometric figure on the selected processing object is as the location geometric properties, the position coordinates of process equipment precognition location geometric properties, wherein, its concrete steps of method of the position coordinates of described precognition location geometric properties are:
1) the motion controller mobile camera of process equipment, the camera axis is overlapped with the coordinate of location geometric properties geometric center, camera obtains the image of location geometric properties, is adopted the geometric center coordinate of the method compute location geometric properties of template matches or rim detection by image processor;
2) computing camera axis current position coordinates and previous step are calculated the deviation of gained geometric center coordinate suddenly, when deviation during greater than allowable value, repeating step 1) and step 2), up to deviation less than allowable value;
The geometric center coordinate transformation of the location geometric properties of 3) last being taken turns becomes the coordinate of processing object in machine tool and output.
2. a kind of high-accuracy machine vision two-dimensional positioning method based on motion servo correction according to claim 1 is characterized in that described camera is fixed on the motion head of process equipment.
3. a kind of high-accuracy machine vision two-dimensional positioning method based on motion servo correction according to claim 1 is characterized in that described process equipment is for requiring two-dimentional pinpoint numerical control device, as laser cutting machine.
4. a kind of high-accuracy machine vision two-dimensional positioning method according to claim 1 based on motion servo correction, it is characterized in that, described image processor calculates the coordinate of processing object in the machine tool coordinate system according to the current location of the geometric center coordinate and the camera axis of last location geometric properties of taking turns.
CN2010101034825A 2010-01-27 2010-01-27 High-accuracy machine vision two-dimensional positioning method based on motion servo correction CN101788805B (en)

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102331745A (en) * 2011-09-20 2012-01-25 中达电通股份有限公司 Bag making machine control system using bus-type motion controller and control method thereof
CN102773524A (en) * 2012-08-01 2012-11-14 西北工业大学 Hole making method with alignment based on machine vision
CN102922129A (en) * 2011-08-08 2013-02-13 南京通孚轻纺有限公司 Accurate cutting method based on laser identification cutting machine
CN105136044A (en) * 2015-09-18 2015-12-09 佛山轻子精密测控技术有限公司 Workpiece height intelligent measuring apparatus and measuring method
CN105269403A (en) * 2015-11-27 2016-01-27 广东工业大学 Detecting system and detecting method
CN105425724A (en) * 2015-11-20 2016-03-23 张碧陶 High-precision motion positioning method and apparatus based on machine vision scanning imaging
CN105774268A (en) * 2016-03-21 2016-07-20 上海贝特威自动化科技有限公司 Marking positioning method for gears of automobile differentials
CN106485284A (en) * 2016-10-19 2017-03-08 哈尔滨工业大学 A kind of element localization method based on template matching
CN107609516A (en) * 2017-09-13 2018-01-19 重庆爱威视科技有限公司 Adaptive eye moves method for tracing
CN109130570A (en) * 2018-07-26 2019-01-04 广州艾德旺斯珠宝科技有限公司 A kind of laser marking method, electronic equipment and storage medium
CN109570749A (en) * 2018-10-09 2019-04-05 大族激光科技产业集团股份有限公司 A method of improving laser marking system adjustment accuracy
CN110017769A (en) * 2019-03-12 2019-07-16 精诚工科汽车系统有限公司 Part detection method and system based on industrial robot

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102922129A (en) * 2011-08-08 2013-02-13 南京通孚轻纺有限公司 Accurate cutting method based on laser identification cutting machine
CN102922129B (en) * 2011-08-08 2015-04-29 南京通孚轻纺有限公司 Accurate cutting method based on laser identification cutting machine
CN102331745A (en) * 2011-09-20 2012-01-25 中达电通股份有限公司 Bag making machine control system using bus-type motion controller and control method thereof
CN102331745B (en) * 2011-09-20 2013-01-09 中达电通股份有限公司 Bag making machine control system using bus-type motion controller and control method thereof
CN102773524A (en) * 2012-08-01 2012-11-14 西北工业大学 Hole making method with alignment based on machine vision
CN105136044A (en) * 2015-09-18 2015-12-09 佛山轻子精密测控技术有限公司 Workpiece height intelligent measuring apparatus and measuring method
CN105425724A (en) * 2015-11-20 2016-03-23 张碧陶 High-precision motion positioning method and apparatus based on machine vision scanning imaging
CN105269403A (en) * 2015-11-27 2016-01-27 广东工业大学 Detecting system and detecting method
CN105774268A (en) * 2016-03-21 2016-07-20 上海贝特威自动化科技有限公司 Marking positioning method for gears of automobile differentials
CN106485284A (en) * 2016-10-19 2017-03-08 哈尔滨工业大学 A kind of element localization method based on template matching
CN107609516A (en) * 2017-09-13 2018-01-19 重庆爱威视科技有限公司 Adaptive eye moves method for tracing
CN107609516B (en) * 2017-09-13 2019-10-08 重庆爱威视科技有限公司 Adaptive eye movement method for tracing
CN109130570A (en) * 2018-07-26 2019-01-04 广州艾德旺斯珠宝科技有限公司 A kind of laser marking method, electronic equipment and storage medium
CN109570749A (en) * 2018-10-09 2019-04-05 大族激光科技产业集团股份有限公司 A method of improving laser marking system adjustment accuracy
CN110017769A (en) * 2019-03-12 2019-07-16 精诚工科汽车系统有限公司 Part detection method and system based on industrial robot

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