CN101788805B - 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 PDFInfo
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- CN101788805B CN101788805B CN2010101034825A CN201010103482A CN101788805B CN 101788805 B CN101788805 B CN 101788805B CN 2010101034825 A CN2010101034825 A CN 2010101034825A CN 201010103482 A CN201010103482 A CN 201010103482A CN 101788805 B CN101788805 B CN 101788805B
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- center coordinate
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- 238000003708 edge detection Methods 0.000 claims abstract description 3
- 238000000034 methods Methods 0.000 claims description 8
- 230000003287 optical Effects 0.000 abstract description 8
- 238000003698 laser cutting Methods 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 description 3
- 238000010586 diagrams Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering processes Methods 0.000 description 2
- 281000043092 General Precision Equipment companies 0.000 description 1
- 238000010330 laser marking Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reactions Methods 0.000 description 1
- 230000001131 transforming Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
Description
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 confirm 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 is high, and is when carrying out precision positioning, very high, expensive to the optical device requirement of NI 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 deficiency of 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.
The object of the invention is realized through following technical scheme:
A kind of high-accuracy machine vision two-dimensional positioning method based on motion servo correction is accomplished by the motion head cooperation of camera, image processor, motion controller and process equipment.Camera is fixed on the motion head of process equipment, and the geometric figure on the selected workpiece is as the location geometric properties, and 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, obtains locating the coordinate of geometric properties in equipment through coordinate transform, and 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, and camera obtains the image of locating 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 preset 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 following:
Generally speaking, the pattern distortion of camera lens near axis is less, and this method is utilized this principle exactly; Camera and motion head are connected firmly, and after NI Vision Builder for Automated Inspection calculated the centre coordinate of location geometric properties, mobile camera made its axis overlap with this coordinate; Again obtain image again, calculate new geometric center coordinate, iterate; The geometric center that lets the camera axis fully approach the location geometric properties with this bearing accuracy that improves NI Vision Builder for Automated Inspection, reduces the influence of optical system distortion; This method is relatively low to the optical device requirement 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), and this slide unit can X and Y direction in horizontal stand move, and the geometric figure on the selected processing object is as the location geometric properties; The Position Approximate of equipment prevision location geometric properties; Above the geometric properties of location, camera obtains the digital picture of location geometric properties to the motion controller of equipment with mobile camera moving, adopts 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 obtains location geometric properties image, the centre coordinate of computational geometry characteristic more again.If the location geometric properties centre coordinate and the current camera axis line coordinates deviation that recomputate gained move head again greater than allowable value, 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 prevision is located the position coordinates of geometric properties, and wherein, its concrete steps of method of the position coordinates of said prevision 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) a computing camera axis current position coordinates and a last step are calculated the deviation of gained geometric center coordinate, 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 stated, can realize preferably that just the present invention, the foregoing description are merely preferred embodiment of the present invention, be 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 (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101034825A CN101788805B (en) | 2010-01-27 | 2010-01-27 | High-accuracy machine vision two-dimensional positioning method based on motion servo correction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101034825A CN101788805B (en) | 2010-01-27 | 2010-01-27 | High-accuracy machine vision two-dimensional positioning method based on motion servo correction |
Publications (2)
| Publication Number | Publication Date |
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| CN101788805A CN101788805A (en) | 2010-07-28 |
| CN101788805B true CN101788805B (en) | 2012-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101034825A CN101788805B (en) | 2010-01-27 | 2010-01-27 | High-accuracy machine vision two-dimensional positioning method based on motion servo correction |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN106485284B (en) * | 2016-10-19 | 2019-05-14 | 哈尔滨工业大学 | A kind of element localization method based on template matching |
| 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 |
| 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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2010
- 2010-01-27 CN CN2010101034825A patent/CN101788805B/en not_active IP Right Cessation
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| CN101788805A (en) | 2010-07-28 |
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