CN102073148B - High-accuracy visual coaxial optical alignment assembly system for miniature structural member - Google Patents
High-accuracy visual coaxial optical alignment assembly system for miniature structural member Download PDFInfo
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- CN102073148B CN102073148B CN2011100079683A CN201110007968A CN102073148B CN 102073148 B CN102073148 B CN 102073148B CN 2011100079683 A CN2011100079683 A CN 2011100079683A CN 201110007968 A CN201110007968 A CN 201110007968A CN 102073148 B CN102073148 B CN 102073148B
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Abstract
The invention provides a high-accuracy visual coaxial optical alignment assembly system for a miniature structural member. The system comprises a manipulator, a light source, an optical alignment device, a micro-positioning platform, an image pick-up device and a control device, wherein the image pick-up device and the optical alignment device are positioned on the same horizontal line; and the manipulator and the micro-positioning platform are positioned above and below the optical alignment device respectively. A local template is used, images of both a base member and a member to be arranged are binary images, and a binary edge only exists in the template matching process, so the calculated amount is greatly reduced and the speed is improved during matching, and the requirement on a positioning real-time property is met. The local template is used for searching an accurate alignment pixel coordinate and a directional line included angle of the base member and the member to be arranged, and the micro-positioning platform is adjusted under control of a control signal generated by the system, so that the system has higher alignment accuracy.
Description
Technical field
The present invention relates to the coaxial optical registration assembly system of a kind of micro-miniature structures spare high-precision vision, belong to mechanical assembling field.
Background technology
Along with micro mechanical technology and MEMS (MEMS) development and rise; Microminiature device and system with its size is little, in light weight, price is low, low in energy consumption; Advantages such as good reliability; In products such as notebook computer, space equipment, medicine equipment, be used widely, relate to every field such as industry, Aero-Space, medical treatment.Miniature device all is to assemble through littler structural member slightly, and therefore, robotization, semi-automatic parts with microstructure assembly system development research become an important field of research.At present most little assembly systems adopt display device that wiring layout is looked like to show, the staff utilizes relative motion realization assembling between mechanical arm through the supervision to the wiring layout picture.But assembly is difficult to solve to the visual occlusion problem in approaching each other process, and majority can only carry out exploratory assembling based on image control in early stage manipulator.This kind assembling is consuming time more, and efficient is lower, and precision also is difficult to guarantee.
Summary of the invention
The present invention proposes the coaxial optical registration assembly system of a kind of micro-miniature structures spare high-precision vision, can realize base member and treat the accurate coaxial alignment of accessory on less space, and control mechanical arm unidirectional motion is realized high-precision assembling.For realizing above-mentioned purpose, the technical scheme that the present invention adopts is following:
The coaxial optical registration assembly system of a kind of micro-miniature structures spare high-precision vision comprises mechanical arm, light source, optical registration device, micromotion platform, camera head and control device; Wherein, camera head and optical registration device are positioned on the same waterline, and mechanical arm and micromotion platform lay respectively at the above and below of optical registration device;
Mechanical arm comprises suction nozzle, is used for absorption and treats accessory; Light source is used to base member and treats that accessory provides illumination; The optical registration device, the catoptrical light path that is used to change base member He treats accessory; Micromotion platform is used for bearing substrate spare and under the control of control device, adjusts; Camera head is used to gather base member and treats the accessory image and be transferred to control device;
Control device comprises light source control module, memory module, image processing module and micromotion platform adjusting module; Light source control module, to adopt the mode of timesharing to control light source be base member with treat that accessory provides illumination; Memory module is used to store according to priori and sets up the local template that comprises typical structure contraposition characteristic; Image processing module is used for generating control signal according to process result and being transferred to the micromotion platform adjusting module receiving the base member image and treating that the accessory image handles; The micromotion platform adjusting module is used for adjusting accordingly according to the control signal control micromotion platform that receives;
The light source of treating accessory is opened in the light source control module control of control device, and the camera head utilization accessory image of treating after treatment carries out automatic focusing; After focusing finished, image and the base member image and the image transmitted processing module of accessory treated in the camera head collection, and the local template of image processing module utilization is treated extraction the accurate contraposition pixel (x of accessory
1, y
1) and the accurate contraposition pixel (x of base member
0, y
0), extract (x
0, y
0) the directional ray angle theta
0(x
1, y
1) the directional ray angle theta
1Image processing module is further according to (x
0, y
0), θ
0, (x
1, y
1) and θ
1Generate the micromotion platform control signal and be transferred to the micromotion platform adjusting module, micromotion platform adjusting module control micromotion platform is adjusted accordingly, makes base member and treats accurately contraposition between the accessory.
Control device according to the invention further comprises display module, is used to provide the interface of man-machine interaction, and the image of treating accessory and base member in the assembling process is shown.
Further, local template described in the present invention, base member image and treat that the accessory image all is a bianry image.
Further, image processing module described in the present invention be used for to the base member image that receives with treat that the accessory image is treated to:
The base member image is divided into four each zones, according to treating accessory feature selecting characteristic matching zone and local template; Any that choose on the local template is unique point and in the characteristic matching zone, carries out template and move; Ask for gray scale on the template and be on 1 or 0 pixel and the pixel on the image to be matched and carry out XOR with its corresponding gray; As the result of computing during less than the threshold value that is provided with in advance, then with on the current image to be matched with local template on the corresponding point of unique point be decided to be unique point; The image of wherein said band coupling comprises treats that accessory image and base member image, said unique point comprise the base member unique point and treat the accessory unique point.
Further, image processing module further carries out denoising and is transferred to camera head the accessory image of gathering of treating among the present invention, and camera head carries out automatic focusing according to the accessory image of treating after handling.
More preferably, denoising described in the present invention is to adopt the method for medium filtering to treat the accessory image to carry out denoising.
Beneficial effect
The coaxial optical registration assembly system of a kind of micro-miniature structures spare high-precision vision of the present invention; Local template, base member image and treat that the accessory image all is a bianry image; The two-value marginal existence is only arranged in the template matches process; Therefore calculated amount reduces greatly when coupling, and speed improves, and satisfies location real-time demand.
Secondly, the form that the present invention adopts coaxial optical registration and micromotion platform to be complementary is carried out the contraposition assembling, therefore makes base member and treats that the aligning accuracy between the accessory is higher.
Once more, the present invention adopts local template to seek base member and treats accurate contraposition pixel coordinate and the directional ray angle on the accessory, and adjusts according to its generation control signal control micromotion platform, and its aligning accuracy is higher.
And, the present invention includes display module, adopt the mode of coaxial alignment assembling to carry out the contraposition assembling, can under the situation that assembling goes wrong, in time adjust, avoid the assembling of the problems affect whole part of a little part.
Description of drawings:
The coaxial optical registration assembly system of Fig. 1 the present invention structural representation;
The structural representation of Fig. 2 control device of the present invention;
Embodiment
Below in conjunction with accompanying drawing the present invention is done further detailed explanation:
As shown in Figure 1, the coaxial optical registration assembly system of a kind of micro-miniature structures spare high-precision vision comprises mechanical arm, light source, optical registration device, micromotion platform, camera head and control device; Wherein, camera head and optical registration device are positioned on the same horizontal line, and mechanical arm and micromotion platform lay respectively at the above and below of optical registration device;
Mechanical arm comprises suction nozzle, is used for absorption and treats accessory, can under the control of control device, realize treating that accessory adsorbs and release automatically, and mechanical arm and treat not produce between the accessory adhesion.
Light source comprises the base member light source and treats the accessory light source, is used to base member and treats that accessory provides illumination; When needs were gathered the base member image, control device control was opened the base member light source and is closed and treat the accessory light source, and when the accessory image was treated in the needs collection, control device control was opened and treated the accessory light source and close the base member light source.Adopt the mode of timesharing that light source is controlled, can well satisfy camera head base member and the collection of treating the image of accessory.
The optical registration device, the catoptrical light path that is used to change base member He treats accessory makes camera head to collect the base member image respectively and to treat the accessory image at same position.
Micromotion platform is used for bearing substrate spare and under the control of control device, adjusts; That described micromotion platform can carry out is upper and lower, the adjustment of front, rear, left and right six-freedom degree and can being rotated around vertical direction.
Camera head is used to gather the image of treating accessory and is transferred to control device; Wherein the camera head collection treats that the accessory image is transferred to the image processing module in the control device; Image processing module treats that to what gather this moment the accessory image adopts the mode of medium filtering to handle the back passback and gives camera head, and camera head carries out automatic focusing based on the base member image of this moment; Focusing finishes further collection of back camera head and treats accessory and base member image, and is transferred to control device.
Control device comprises light source control module, memory module, image processing module, micromotion platform adjusting module and display module.
Light source control module is used to control light source and is base member and treats that accessory provides illumination, and when the accessory image was treated in the camera head collection, light source control module control was opened and treated the accessory light source, closes the base member light source simultaneously; When camera head was gathered the base member image, the base member light source was opened in light source control module control, closes simultaneously and treats the accessory light source.
Memory module is used to store according to priori and sets up the local template that comprises typical structure contraposition characteristic; To be image processing module use when treating that the accessory image carries out extraction and the location of unique point the base member image said local template.
Image processing module; Be used to receive camera head transmits treat the accessory image and carry out denoising; Image must produce noise in the process of gathering and transmitting, these noises will influence the quality of image, causes the transition and the vibration of focusing sharpness evaluation function curve; Reduce the automatic focusing precision, thereby influence part image contraposition feature point extraction and location.Because the characteristics of contraposition principle and micro-image; Filtering method needs to remove noise effectively, can keep the edge again, therefore; Before focusing, at first selected medium filtering that image is handled; Camera head is focused according to the image after handling automatically, treats that wherein accessory image and base member image are bianry image, and wherein the pixel of edge contour is 1.
After focusing finishes; Camera acquisition base member image with treat the accessory image; And according to the base member image of gathering; Generation is transferred to the micromotion platform adjusting module as the vertical adjustment signal of control signal, and the micromotion platform adjusting module carries out the adjustment of vertical direction according to the vertical adjustment signal controlling micromotion platform that receives, and makes base member and treats the equivalent optical path of accessory to camera head; Camera head was gathered the base member image once more and is transferred to image processing module after the micromotion platform adjustment finished.
Image processing module is to the base member image and treat that the accessory image carries out 4 five equilibriums, according to current needs contraposition assembled construction part type, selects zone to be matched and coupling reference position and direction of translatory motion.As shown in Figure 2, at first carry out profile and extract, and the profile that extracts is mated.In assembling process, because base member is fixed on the unit clamp of micromotion platform, so the orientation of the assembly features on the base member is fixing basically, and then the position of the characteristic area of base member on image is fixing basically.Wherein, The present invention is a characteristic area with the zone of treating accessory and need assemble; Like characteristic area to be matched 1 during for the contraposition characteristic area, the characteristic of then treating accessory is in the zone, the upper left corner of subregions such as 4 basically, is that ordinate is set up rectangular coordinate system with the horizontal direction for the horizontal ordinate vertical direction.Select a bit to be unique point on the local template that the reference position of its coupling is the minimum value x of the x coordinate that obtains of vertical sweep
MinThe minimum value y of the y coordinate that obtains with transversal scanning
Min, from (x
Min, y
Min) begin to carry out moving of template respectively to the right and downwards, wherein said coupling is the coupling of edge template.Because local template, base member image and treat that the accessory image all is a bianry image; The two-value marginal existence is only arranged in the template matches process, and promptly the gray scale of each pixel is merely 0 or 1 on the template, and therefore calculated amount reduces greatly when coupling; Speed improves, and satisfies location real-time demand.When setting up template, its orientation is to confirm according to the orientation of the matching characteristic on the base member, so requires the angle of rotation less in the template matches process simultaneously; Can be above 5 °; And when setting up template, the enlargement factor basically identical of its enlargement factor and image to be matched, therefore; Here neither relate to the rotation coupling of wide-angle, also do not relate to proportional zoom.Therefore can reduce calculated amount, improve matching speed.
In fact based on the coupling of edge template is exactly that to ask for gray scale on the template be that 1 pixel and the gray scale on the pixel corresponding with it on the image to be matched are carried out XOR; When mating fully; The XOR value and be zero, but because the image of the used image of template establishment and each coupling has less difference, therefore; In its matching process the XOR value with should be less than the threshold value that is provided with in advance, said threshold value is set according to the test of many times result.
After having realized the coarse positioning of contraposition characteristic,, adopt diverse ways to extract the accurate contraposition unique point pixel coordinate (x on the image that is mated on structural member to be assembled and the base member then according to the difference of contraposition characteristic
0, y
0) and (x
1, y
1) and the directional ray angle theta
0, θ
1Said distinct methods is meant because the template of coupling is different, and the employing method is different, and for example the snapholder image can adopt the intersection point of adjacent linear edge to obtain contraposition unique point coordinate, and for circular shuttering, then adopts the center of circle as the location feature point.
Calculate the pixel coordinate deviation delta x=x of the accurate contraposition unique point on the image of fit structure on micro-miniature structures spare to be assembled and the base member
1-x
2, Δ y=y
1-y
2And the angle deviation delta θ=θ of directional ray
1-θ
2Wherein the unit of Δ x and Δ y all is a pixel value.Confirm the conversion equivalent S of pixel according to enlargement factor
xAnd S
y(pixel/mm), the space that calculates between miniature assembly body is azimuth deviation (the Δ x/S of unit with mm
x, Δ y/S
y), and be control information with this deviation, realize translation through control device to micromotion platform.The angular separation deviation is Δ θ=θ
1-θ
0If Δ θ＞0 generates the dextrorotation rotaring signal and is transferred to the micromotion platform adjusting module; When Δ θ＜0, generate and be rotated counterclockwise signal and be transferred to the micromotion platform adjusting module
The micromotion platform adjusting module is used for the control signal that transmits according to image processing module, and micromotion platform is adjusted, and makes base member and treats that accessory is in corresponding position just.
Display module; Be used to provide the interface of man-machine interaction; To the base member that receives with treat that the image of accessory shows because providing of micro-structure spare is to supply with continuously in order, in case the contraposition assembly problem appears in a part in the contraposition testing process; Then influence follow-up assembling and detect, and cause some row operations invalid of assembling in early stage.Assembling for fear of the problems affect whole part of a little part.Adopt display module that the interface of man-machine interaction is provided, the contraposition assembly method of completion man-machine coordination will cut the waste like this, and throughput rate is further enhanced.Through the detection and the adjustment of optical registration and micro-adjusting mechanism, make the accessory to be installed that is on the same axis and base member method with enough accurate alignments.Finally make based on part and cooperate with the accurate contraposition of realization under the situation of man-machine coordination work of treating accessory.
Concrete operating process is:
The light source of treating accessory is opened in the light source control module control of control device; The reflected light of treating accessory reflexes in the camera head through the optical registration device; Camera head gather mechanical arm absorption the optical registration system that is in top treat that the accessory image is transferred to image processing module and carries out medium filtering, after medium filtering finishes image returned to camera head and makes it carry out automatic focusing.After focusing finishes; The camera head collection is treated the image of accessory and is transferred to the image processing module in the control device; Image processing module is handled the image of treating accessory that receives; Utilize local template that the accurate contraposition pixel of accessory is treated in extraction, light source control module control is simultaneously opened the base member light source and is treated the accessory light source with closing, and the image of camera acquisition base member also is transferred to the image processing module of control device; Image processing module is handled the image of the base member of reception, utilizes local template will extract the accurate contraposition pixel of base member.
Image processing module is according to extracting base member and treating accurate contraposition pixel coordinate (x on the accessory
0, y
0) and (x
1, y
1) and the directional ray angle theta
0And θ
1, generating the micromotion platform control signal and be transferred to the micromotion platform adjusting module, micromotion platform adjusting module control micromotion platform is adjusted accordingly.The while display module is to base member in the assembling process and treat that accessory shows, better realizes base member and treats the accurate contraposition assembling between the accessory through man-machine coordination work.
Simultaneously; The foundation of the local template of the contraposition of micro-miniature structures spare to be assembled is the basis with the rim detection among the present invention; Therefore on the basis of 4 area limitings such as branch such as grade,, greatly reduced operand according to scanning the scope that the outermost coordinate points of confirming of entity further defines coupling.And the microminiature base member that is mated, the template of foundation also is the basis with the rim detection, on the basis of 4 localized areas such as branch such as grade, further defines the zone of coupling equally, has also greatly reduced calculated amount.The image of accessory to be installed and fit structure spare obtains through the timesharing that realizes image that flickers of controlling light source respectively; But in contraposition characteristic matching and position fixing process, can adopt parallel processing to the image in the internal memory; Can save time, obtain quick contraposition deviation information.
Claims (6)
1. the coaxial optical registration assembly system of micro-miniature structures spare high-precision vision is characterized in that, comprises mechanical arm, light source, optical registration device, micromotion platform, camera head and control device; Wherein, camera head and optical registration device are positioned on the same horizontal line, and mechanical arm and micromotion platform lay respectively at the above and below of optical registration device;
Mechanical arm comprises suction nozzle, is used for absorption and treats accessory; Light source is used to base member and treats that accessory provides illumination; The optical registration device, the catoptrical light path that is used to change base member He treats accessory; Micromotion platform is used for bearing substrate spare and under the control of control device, adjusts; Camera head be used to gather base member with treat the accessory image, image is measured, and with base member with treat that the deviation information of accessory is transferred to control device;
Control device comprises light source control module, memory module, image processing module and micromotion platform adjusting module; Light source control module, to adopt the mode of timesharing to control light source be base member with treat that accessory provides illumination; Memory module is used to store according to priori and sets up the local template that comprises typical structure contraposition characteristic; Image processing module is used for generating control signal according to process result and being transferred to the micromotion platform adjusting module receiving the base member image and treating that the accessory image handles; The micromotion platform adjusting module is used for adjusting accordingly according to the control signal control micromotion platform that receives;
The light source of treating accessory is opened in the light source control module control of control device, and the camera head utilization accessory image of treating after treatment carries out automatic focusing; After focusing finished, image and the base member image and the image transmitted processing module of accessory treated in the camera head collection, and the local template of image processing module utilization is treated extraction the accurate contraposition pixel (x of accessory
1, y
1) and the accurate contraposition pixel (x of base member
0, y
0), extract (x
0, y
0) the directional ray angle theta
0(x
1, y
1) the directional ray angle theta
1Image processing module is further according to (x
0, y
0), θ
0, (x
1, y
1) and θ
1Generate the micromotion platform control signal and be transferred to the micromotion platform adjusting module, micromotion platform adjusting module control micromotion platform is adjusted accordingly, makes base member and treats accurately contraposition between the accessory.
2. according to the coaxial optical registration assembly system of the said micro-miniature structures spare high-precision vision of claim 1; It is characterized in that; Said control device further comprises display module, is used to provide the interface of man-machine interaction, and the image of treating accessory and base member in the assembling process is shown.
3. according to the coaxial optical registration assembly system of the said micro-miniature structures spare high-precision vision of claim 1, it is characterized in that said local template, base member image and treat that the accessory image all is a bianry image.
4. according to the coaxial optical registration assembly system of the said micro-miniature structures spare high-precision vision of claim 3, it is characterized in that said image processing module is used for the base member image that receives and treats that the accessory image is treated to:
The base member image is divided into four zones, according to treating accessory feature selecting characteristic matching zone and local template; Any that choose on the local template is unique point and in the characteristic matching zone, carries out template and move; Ask for gray scale on the template and be on 1 or 0 pixel and the pixel on the image to be matched and carry out XOR with its corresponding gray; As the result of computing during less than the threshold value that is provided with in advance, then with on the current image to be matched with local template on the corresponding point of unique point be decided to be unique point; Wherein said image to be matched comprises treats that accessory image and base member image, said unique point comprise the base member unique point and treat the accessory unique point.
5. according to the coaxial optical registration assembly system of the said micro-miniature structures spare high-precision vision of claim 1; It is characterized in that; Said image processing module further carries out denoising to a series of images of gathering of treating accessory; The focusing functional value of accessory image is treated in calculating, and the size of comparison function value, realizes automatic focusing through the method for obtaining extreme value.
6. according to the coaxial optical registration assembly system of the said micro-miniature structures spare high-precision vision of claim 1, it is characterized in that said denoising is treated the accessory image for the method that adopts medium filtering and carried out denoising.
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| CN103327360B (en) * | 2013-06-14 | 2015-03-04 | 北京理工大学 | VGA-format output embedded high-resolution visual inspection device |
| CN105415368B (en) * | 2015-12-10 | 2017-08-25 | 河南科技大学 | A kind of transplanting machine hand with adjustable positioning device |
| CN108237424B (en) * | 2016-12-26 | 2020-05-15 | 大唐移动通信设备有限公司 | Workpiece positioning device and positioning method |
| CN107830032A (en) * | 2017-11-23 | 2018-03-23 | 广东弘景光电科技股份有限公司 | Camera module automatic focusing assembly method |
| CN108655693B (en) * | 2018-03-05 | 2019-06-14 | 北京理工大学 | A kind of device and method of the quick change visual field towards coaxial alignment assembly system |
| CN109448056B (en) * | 2018-10-30 | 2021-12-10 | 国网北京市电力公司 | Communication module connection method and device, storage medium and electronic device |
| CN110560331B (en) * | 2019-08-15 | 2020-09-18 | 北京航天控制仪器研究所 | Coaxial part assembling device and method |
| CN111125836B (en) * | 2019-12-23 | 2023-10-20 | 南京工业大学 | Automatic construction method for web processing area of aircraft structural member based on image |
| CN111113021B (en) * | 2019-12-23 | 2021-03-26 | 北京航天控制仪器研究所 | Coaxial component assembly guiding and positioning retaining device |
| CN111571176B (en) * | 2020-04-23 | 2021-10-01 | 北京航空航天大学 | Automatic press-fitting control system and control method for shaft hole matching parts |
| CN111367090B (en) * | 2020-05-28 | 2020-09-01 | 宁波丞达精机有限公司 | Optical lens optical axis correction device and method |
| CN111899218B (en) * | 2020-06-28 | 2023-09-05 | 中国电子科技集团公司第四十四研究所 | Detector coaxiality detection system and method based on camera image processing |
| WO2022036479A1 (en) * | 2020-08-17 | 2022-02-24 | 江苏瑞科科技有限公司 | Base body and part pose estimation method in ar assisted assembly |
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| CN1206561C (en) * | 2002-08-29 | 2005-06-15 | 中国科学院光电技术研究所 | Optical system through axle central device and adjusting method |
| EP1987390A1 (en) * | 2005-05-24 | 2008-11-05 | Carl Zeiss SMT AG | Method of aligning an optical system |
| CN101059601A (en) * | 2006-04-21 | 2007-10-24 | 上海星庆光学仪器有限公司 | Reflective image quick and direct adjusting method of reflective type center determinator |
| JP5509645B2 (en) * | 2009-03-25 | 2014-06-04 | 富士ゼロックス株式会社 | Position / posture recognition method, component gripping method, component placement method, component assembly method, position / posture recognition device, component gripping device, component placement device, and component assembly device |
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Inventor after: Ye Xin Inventor after: Zhang Zhijing Inventor after: Jin Xin Inventor after: Wang Qiang Inventor before: Zhang Zhijing Inventor before: Jin Xin Inventor before: Ye Xin Inventor before: Wang Qiang |
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Free format text: CORRECT: INVENTOR; FROM: ZHANG ZHIJING JIN XIN YE XIN WANG QIANG TO: YE XIN ZHANG ZHIJING JIN XIN WANG QIANG |
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