CN102642385A - Calibration method for positioning reference of full-automatic multi-camera silk screen printing equipment and calibration device - Google Patents
Calibration method for positioning reference of full-automatic multi-camera silk screen printing equipment and calibration device Download PDFInfo
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Abstract
The invention discloses a calibration method for a positioning reference of full-automatic multi-camera silk screen printing equipment and a calibration device. The calibration device comprises a control system, a plurality of printing stock positioning cameras, external printing stock positioning camera adjustable light sources, a conveying device, a plate discharging station camera, a printing mechanism, a three-degree-of-freedom silk screen adjusting table, a plurality of printing tables and a plurality of silk screen positioning cameras. The calibration method includes: calibrating the cameras by the aid of a calibration plate and the three-degree-of-freedom silk screen adjusting table; establishing a corresponding mapping relation; and obtaining the reference mapping relation among the printing stock positioning cameras and the silk screen positioning cameras by means of the machine vision algorithm and the silk screen printing process. The calibration method avoids high theoretical property, complicated operation and difficult precision measurement of spatial sizes, and has the advantages of simplicity, convenience, practicability, rapidness and accuracy.
Description
Technical field
The present invention relates to computer vision precision positioning technology field, particularly relate to the positioning reference scaling method and the device of full-automatic polyphaser screen printing apparatus.
Background technology
Full-automatic polyphaser screen printing apparatus is a kind ofly automatically to realize being widely used in the print system of silk screen and stock fine registration in all kinds of industries based on machine vision, mounts production line etc. like metallize silk-screen line, electronics of crystal silicon solar batteries.In the vision positioning system, from the image information that video camera obtains, information such as the position of object, shape in the Calculation of Three Dimensional space, and rebuild thus and recognition object.The three-dimensional geometry position of certain point of space object surface is relevant with its geometric position of corresponding points in image.The correlation of these positions is that these geometrical model parameters are exactly camera parameters by the decision of the geometrical model of video camera imaging.Under most of conditions, these parameters must just can obtain through experiment and calculating, and this process is called as camera calibration.Calibration process is exactly geometry and an optical parametric of confirming that video camera is inner, and camera coordinate system is with respect to the pose variation of world coordinate system.Because camera calibration is between two-dimensional signal and its actual three-dimensional body of visual pattern quantitative relationship corresponding, that change to be provided; Be prerequisite and the basis that computer vision is obtained three-dimensional spatial information; The size of stated accuracy; Therefore directly affect the precision of machine vision, video camera benchmark calibration method is studied and had important significance for theories and practical value.
To the desk-top full-automatic polyphaser screen printing apparatus of undertaking the printing of more; Stock location camera and silk screen location camera are distributed in the different spatial positions; Like 1 position among Fig. 2 and 8 positions among Fig. 3, polyphaser framing system can't be reflected to stock positional information and silk screen positional information in the same acquisition system.Because stock location camera and silk screen location camera are distributed in the different spatial positions, be difficult to critically measure the relative position relation of stock location camera, silk screen location camera and bearing ink pad, Three Degree Of Freedom silk screen adjustment platform.Therefore; Demarcation research to video camera and whole distributed polyphaser image capturing system; To concrete actual application problem, a kind of specific easy, practical, positioning reference scaling method is fast and accurately proposed, avoid complex spatial three-dimensional measurement and calculating.
Summary of the invention
The objective of the invention is to overcome the shortcoming of prior art; The positioning reference scaling method and the device of full-automatic polyphaser screen printing apparatus are provided; Improve camera entity measuring precision, the undertake the printing of camera reference position relation of station of quick related difference is by means of instruments such as machine vision algorithm and high-precision calibrating plates; Make become simple and fast and accurately and reliably of calibration process, avoid complex spatial three-dimensional measurement and calculating.The object of the invention is realized through following technical scheme.
The positioning reference caliberating device of full-automatic polyphaser screen printing apparatus comprises control system, some stocks location camera, the outside tunable light source of stock location camera, a conveyer, ejecting plate station camera, printing mechanism, Three Degree Of Freedom silk screen adjustment platform, some bearing ink pads and some silk screens location camera; Wherein bearing ink pad is fixed on the conveyer, and bearing ink pad has back light; Stock location camera, ejecting plate station camera are vertically mounted on the top of bearing ink pad, and silk screen location camera is vertically mounted on the silk screen below; It is characterized in that; Above bearing ink pad, be provided with the adjustable camera support that is used to install stock location camera; Stock location camera can be configured according to required precision, and camera outside tunable light source in stock location is installed above bearing ink pad, clearly to obtain the stock picture on surface.
A kind of positioning reference scaling method of full-automatic polyphaser screen printing apparatus, said scaling method concrete steps comprise:
(1) the demarcation silk screen is installed, is confirmed the benchmark relation of bearing ink pad and Three Degree Of Freedom silk screen adjustment platform;
(2) parameter that some stocks are located camera, some silk screens location camera and ejecting plate station camera and each camera is set is installed;
(3) benchmark and pixel equivalent that each stock location camera is demarcated through high-precision calibrating plate and machine vision algorithm by control system are set up the mapping relations of stock location camera and bearing ink pad, and demarcate ejecting plate station camera reference position;
(4) through the motion and the machine vision algorithm of Three Degree Of Freedom silk screen adjustment platform, demarcate some silk screen location camera benchmark and pixel equivalent, set up the mapping relations of silk screen location camera and silk screen adjustment platform, and revise with laser interferometer;
(5) on bearing ink pad, load stock (or mounting paper, thin plate); At Three Degree Of Freedom silk screen adjustment stage fiducial position printing slurry; Stay clear pattern at each stock (or paper, thin plate),, obtain the reference information of identification point on the pattern through the machine vision algorithm;
(6) set up the benchmark mapping relations that stock is located camera, conveyer, bearing ink pad, Three Degree Of Freedom silk screen adjustment platform, silk screen location camera, finally obtain the benchmark mapping relations of stock location camera and silk screen location camera.
In the above-mentioned scaling method, the benchmark of identification point comprises X, Y position reference and angle reference on said stock location camera, silk screen location camera benchmark and the pattern.
Preferably; The reference position of the said definite bearing ink pad of step (1) and Three Degree Of Freedom silk screen adjustment platform comprises: confirm rotation transmitting device the undertake the printing of angle-differentiated of station or the reciprocal conveyer station distance of undertaking the printing of; And center, the reference position basically identical of definite Three Degree Of Freedom silk screen adjustment stage fiducial place-centric and bearing ink pad, confirm to demarcate the corresponding identification point line of silk screen or steel mesh and overlap basically with the bearing ink pad center line.
In the above-mentioned scaling method, the said some stocks of step (2) location camera, some silk screens location camera and ejecting plate station camera parameter comprise camera operating distance, focal length, aperture and visual field size; The installation of some stocks location camera, some silk screens location camera and ejecting plate station camera comprises each stock location camera of adjustment, each silk screen location camera and ejecting plate station camera position angle; Tentatively establish between each camera and the benchmark relation between each camera and the reference object, establish the benchmark of ejecting plate station camera and the mapping relations of ejecting plate station camera and bearing ink pad.
In the above-mentioned scaling method; Step (3) is demarcated the benchmark and the pixel equivalent of stock location camera through high-precision calibrating plate and machine vision algorithm; Confirm the pixel equivalent and camera self direction of each stock location camera, finally establish the whole benchmark mapping relations of the some stocks location cameras and the platform of promising.
Preferably; The reference position of said demarcation stock location camera and pixel equivalent, camera direction comprise: through the zone line of high-precision calibrating panel sign dot pattern entering visual field, and reference position distance or corresponding picture location bias parameter between optimization and demarcation stock location camera; Through the rectilinear direction and the position of high-precision calibrating plate, reference position direction or corresponding picture direction offset parameter between optimization and demarcation stock location camera; Through the square pattern of high-precision calibrating plate, demarcate the pixel equivalent of each stock location camera; Finally set up the mapping relations of stock location camera and bearing ink pad.
In the above-mentioned scaling method; Step (4) is calculated fine setting camera position and direction or image shift through the motion and the machine vision algorithm of Three Degree Of Freedom silk screen adjustment platform X/Y axle; Make the direction of motion of uncalibrated image consistent with the moving direction of printing machine X/Y axle; Obtain Three Degree Of Freedom silk screen adjustment platform move distance and picture pixel distance relation, set up the benchmark mapping relations of silk screen location camera and Three Degree Of Freedom silk screen adjustment platform.
Preferably, demarcate camera reference position, silk screen location, angle and pixel equivalent: at first, get into the zone line of visual field, demarcate reference position distance or corresponding picture location bias parameter between the camera of silk screen location through the identification point pattern of demarcating silk screen or steel mesh; Through the identification point line pattern of demarcating silk screen or steel mesh or direction and the position of demarcating steel ruler, demarcate the benchmark relative direction between the camera of silk screen location; X, Y direction through driving Three Degree Of Freedom silk screen adjustment platform move back and forth; Calculate and demarcate the movement locus of identification point in the image that several silk screen cameras are taken in real time in the silk screen; Demarcate the angle biasing and the pixel equivalent of silk screen location camera, and follow the tracks of compensation with laser interferometer; Finally set up the mapping relations of silk screen location camera and Three Degree Of Freedom silk screen adjustment platform.
In the above-mentioned scaling method; Step (5) is through the detection of the pattern and the machine vision algorithm of serigraphy; Obtain the relation of each bearing ink pad benchmark on Three Degree Of Freedom silk screen adjustment stage fiducial and the conveyer; Set up mapping relations respectively, and then pass through the detection and Identification of stock location camera, set up mapping relations with stock location camera self benchmark.
Preferably, said pattern comprises reference position, the directional information of silk screen adjustment platform, also comprises corresponding stock location camera location information simultaneously, and with respective straight pattern correction camera direction mapping relations; Use the reference information of the corresponding Three Degree Of Freedom silk screen adjustment of silk screen location cameras record platform simultaneously.
In the above-mentioned scaling method; Step (6) is through silk screen location camera and Three Degree Of Freedom silk screen adjustment stage fiducial mapping relations, Three Degree Of Freedom silk screen adjustment stage fiducial and each bearing ink pad location map relation, each bearing ink pad position and each stock location camera position mapping relations; Final related silk screen location camera, transmission transposition, each bearing ink pad and stock are located the benchmark of camera, set up the benchmark of whole screen printing apparatus.
Preferably; The said benchmark mapping relations of setting up stock location camera, conveyer, bearing ink pad, Three Degree Of Freedom silk screen adjustment platform, silk screen location camera; The benchmark mapping relations of main benchmark mapping relations through stock location camera and bearing ink pad, Three Degree Of Freedom silk screen adjustment platform and silk screen location camera finally obtain each camera and the benchmark mapping relations of the station of respectively undertaking the printing of.Above-mentioned all about the picture position, orientation measurement or location all use the machine vision algorithm computation to accomplish.
The present invention compared with prior art has following advantage and beneficial effect:
Positioning reference caliberating device of the present invention is simple in structure; Easy for installation, use scaling board and Three Degree Of Freedom silk screen adjustment station symbol phasing machine, and set up the mapping relations that are consistent; Through machine vision algorithm and screen printing process; Obtain the benchmark mapping relations of stock location camera and silk screen location camera, avoid the industrial camera theoretical property by force, the scaling method and the bigger bulk accurate measurement of difficulty of complicated operation, have easy, practical, advantage fast and accurately.
Description of drawings
Fig. 1 is the schematic flow sheet of scaling method in the embodiment.
Fig. 2 is the whole sketch map of full-automatic printing equipment in the embodiment.
Fig. 3 is the partial schematic diagram of full-automatic printing equipment in the embodiment.
Fig. 4 is the formation sketch map of control system in the embodiment.
Fig. 5 is the mapping relations sketch map of scaling method in the embodiment.
The specific embodiment
In order to understand the present invention better, below in conjunction with accompanying drawing and embodiment the present invention is done to describe further, but this working of an invention mode is not limited thereto.
Like Fig. 2, Fig. 3 and shown in Figure 4; The positioning reference caliberating device of full-automatic polyphaser screen printing apparatus comprises the outside tunable light source of control system 9, some stocks location camera 1, stock location camera 2, conveyer 3, ejecting plate station camera 4, printing mechanism 5, Three Degree Of Freedom silk screen adjustment platform 6, some bearing ink pads 7 and some silk screens location camera 8; Wherein bearing ink pad is fixed on the conveyer, and bearing ink pad has back light; Stock location camera, ejecting plate station camera are vertically mounted on the top of bearing ink pad, and silk screen location camera is vertically mounted on the silk screen below; Above bearing ink pad, be provided with the adjustable camera support that is used to install stock location camera, and camera outside tunable light source in stock location is installed above bearing ink pad.The formation of existing control system and as shown in Figure 4 with the annexation of each camera.
As preferred embodiment, the scaling method of above-mentioned caliberating device like Fig. 1, may further comprise the steps:
Silk screen is demarcated in step 101, installation, confirms the reference position of conveyer and Three Degree Of Freedom silk screen adjustment platform;
In embodiment of the present invention, transmitting transposition 3 is turntable, and four bearing ink pads 7 evenly distribute; Three Degree Of Freedom silk screen adjustment platform 6 comprises X, Y, three axles of Theta (angle) for series connection adjustment platform.Adjustment turntable angle-differentiated, wherein certain bearing ink pad 7 center and angle and auto-feed center and direction basically identical are satisfied in determined biography device 3 reference positions.The reference position of determined silk screen adjustment platform 6, it is consistent with the place-centric of bearing ink pad 7 to satisfy Three Degree Of Freedom silk screen adjustment center, platform 6 reference position, and demarcation silk screen or steel mesh correspondence identification point line overlap with bearing ink pad 7 center lines; Satisfy near silk screen below bearing ink pad 7 position (avoiding scope that scaling method is decided to be restricted) Three Degree Of Freedom silk screen adjustment platform 6 each scope central point simultaneously.
Step 102, some stocks location camera and location camera parameter setting of some silk screens and installation;
In embodiment of the present invention, enter plate station top five industrial cameras (stock location camera 1) and two silk screen location cameras 8 are installed, each camera must be adjusted operating distance, focal length and the aperture of camera on optical correction's platform before installation; Keep the relative position relation between camera, the uniformity of relative direction during installation, take continuously through control system 9 drives camera, observe on the graphic interface through calibration software, adjustment camera 1 makes with camera 8 positions and demarcates the zone line that pattern gets into the visual field.
Step 103, the reference position of demarcating stock location camera, ejecting plate station camera and stock location camera pixel equivalent;
Demarcate reference position, stock location camera 1 and ejecting plate station camera 4 directions and the pixel equivalent (ratio of actual range and pixel distance) of stock location camera through high-precision calibrating plate and calibration software; Set up the mapping relations of stock location camera 1 and bearing ink pad 7, and demarcate ejecting plate station camera 4 reference positions.In embodiment of the present invention, use three kinds of high-precision calibrating plates respectively, be installed in position, direction and the pixel equivalent of demarcating stock location camera 1 on the table top of bearing ink pad 7.Through the zone line of high-precision calibrating panel sign dot pattern entering camera 1 visual field, with reference position distance or the corresponding picture location bias parameter between vision algorithm positioning and optimizing and demarcation stock location camera 1 each camera; Through the straight-line pattern of high-precision calibrating plate, find out direction and position with the machine vision algorithm, reference position direction or corresponding picture direction offset parameter between optimization and demarcation stock location camera 1 each camera; Through the square pattern of high-precision calibrating plate, demarcate the pixel equivalent of each stock location camera; Finally set up the mapping relations of stock location camera 1 and bearing ink pad 7, these mapping relations have comprised the systematic errors such as distortion of the captured picture of each camera.
Step 104, through the motion of Three Degree Of Freedom silk screen adjustment platform, demarcate camera reference position, silk screen location, angle and pixel equivalent;
Motion and machine vision algorithm through Three Degree Of Freedom silk screen adjustment platform 6; Demarcate reference position, angle and the pixel equivalent of two silk screen location cameras 8; And can carry out the parameter correction with laser interferometer, set up the mapping relations of silk screen location camera 8 and Three Degree Of Freedom silk screen adjustment platform 6.In embodiment of the present invention, at first, the control system gets into the zone line of visual field through the identification point pattern of demarcating silk screen or steel mesh, optimizes and demarcates reference position distance or the corresponding picture location bias parameter between 8 two cameras of silk screen location camera; The direction and the position of the identification point line pattern through demarcating silk screen or steel mesh are optimized and are demarcated the benchmark relative direction between 8 two cameras of silk screen location camera; X, Y direction that control system 9 drives silk screen adjustment platform 6 move back and forth by certain step pitch; Calculate and demarcate the movement locus of identification point in the image that two silk screen location cameras 8 are taken in real time in the silk screen; Through repetitious measurement; And can compare with the laser interferometer test result, get rid of random error as far as possible, set up the mapping relations that contain systematic error with optimization method; Demarcate and optimize the angle biasing and the pixel equivalent of silk screen location camera 8, and proofread and correct the gearratio of Three Degree Of Freedom silk screen adjustment platform 6; Finally set up the mapping relations of silk screen location camera 8 and Three Degree Of Freedom silk screen adjustment platform 6.
Step 105, printing slurry or other medium, utilization machine vision algorithm obtains positional information through printed patterns;
Be installed in the surface mount stock (paper or thin plate) of the bearing ink pad 7 on the conveyer 3; Reference position printing slurry or other medium at Three Degree Of Freedom silk screen adjustment platform 6; Make on each bearing ink pad 7 and stay clear pattern,, obtain the positional information of each identification point through the machine vision algorithm.In the present invention; Step 105 is the key links, through this step, and related quickly and accurately Three Degree Of Freedom silk screen adjustment platform 6 benchmark and the benchmark relation that transmits transposition 3, stock location camera 1; So the quality of printing is decided by the precision of benchmark mapping relations to a great extent.In embodiment of the present invention, therefore big, the control difficulty height of deformation extent because of silk screen replaces silk screen to carry out this step with steel mesh.Printing mechanism 5 is through the medium on the certain pressure extruding steel mesh, and medium is deposited on the surface of bearing ink pad 7 from the hole seam of silk-screen patterns.In the selection of printed patterns, printed patterns should comprise reference position, the directional information of Three Degree Of Freedom silk screen adjustment platform 6, and the positional information of corresponding stock location camera 1, and locatees the direction mapping relations of camera 1 with respective straight pattern correction stock; The positional information of the corresponding Three Degree Of Freedom silk screen adjustment of silk screen location camera 8 real time record platform 6.
Step 106, set up the benchmark mapping relations of stock location camera, conveyer, Three Degree Of Freedom silk screen adjustment platform, silk screen location camera, and through gained positional information correction benchmark mapping relations;
Control system 9 drive transmission units 3 rotate; The pattern that control stock location camera 1 obtaining step 105 stays on the surface of each bearing ink pad 7 through the machine vision algorithm, calculates position, the directional information of pattern in whole coordinate system; Thereby obtain the benchmark mapping relations of stock location camera 1, conveyer 3, bearing ink pad 7, Three Degree Of Freedom silk screen adjustment platform 6 and silk screen location camera 8; Finally obtain the benchmark mapping relations of each camera 1,8 and the station 7 of respectively undertaking the printing of, as shown in Figure 5, bearing ink pad among the figure (n), bearing ink pad (n+1), bearing ink pad (n+2) are different bearing ink pads; When the bearing ink pad number is 2, advance plate, ejecting plate carries out on same bearing ink pad.
The specific embodiment of the above is merely preferred embodiments of the present invention, is not to limit practical implementation scope of the present invention with this, and all equivalences of being done according to specification of the present invention, accompanying drawing content change all in protection scope of the present invention.
Claims (9)
1. the positioning reference caliberating device of full-automatic polyphaser screen printing apparatus comprises control system, some stocks location camera, the outside tunable light source of stock location camera, a conveyer, ejecting plate station camera, printing mechanism, Three Degree Of Freedom silk screen adjustment platform, some bearing ink pads and some silk screens location camera; Wherein bearing ink pad is fixed on the conveyer, and bearing ink pad has back light; Stock location camera, ejecting plate station camera are vertically mounted on the top of bearing ink pad, and silk screen location camera is vertically mounted on the silk screen below; It is characterized in that, above bearing ink pad, be provided with the adjustable camera support that is used to install stock location camera, and camera outside tunable light source in stock location is installed above bearing ink pad.
2. the scaling method of the positioning reference caliberating device of the said full-automatic polyphaser screen printing apparatus of claim 1; It is characterized in that; Said screen printing apparatus has many bearing ink pads, stock location camera, ejecting plate station camera and the silk screen location camera of the layout of being separated from each other, and said scaling method concrete steps comprise:
(1) the demarcation silk screen is installed, is confirmed the benchmark relation of bearing ink pad and Three Degree Of Freedom silk screen adjustment platform;
(2) parameter that some stocks are located camera, some silk screens location camera and ejecting plate station camera and each camera is set is installed;
(3) benchmark and pixel equivalent that each stock location camera is demarcated through high-precision calibrating plate and machine vision algorithm by control system are set up the mapping relations of stock location camera and bearing ink pad, and demarcate ejecting plate station camera reference position;
(4) through the motion and the machine vision algorithm of Three Degree Of Freedom silk screen adjustment platform, demarcate some silk screen location camera benchmark and pixel equivalent, set up the mapping relations of silk screen location camera and silk screen adjustment platform, and revise with laser interferometer;
(5) on bearing ink pad, load stock,, stay clear pattern,, obtain the reference information of identification point on the pattern through the machine vision algorithm at each stock at Three Degree Of Freedom silk screen adjustment stage fiducial position printing slurry;
(6) set up the benchmark mapping relations that stock is located camera, conveyer, bearing ink pad, Three Degree Of Freedom silk screen adjustment platform, silk screen location camera, finally obtain the benchmark mapping relations of stock location camera and silk screen location camera.
3. the benchmark of identification point on benchmark and the pattern comprises X, Y position reference and angle reference.
4. scaling method according to claim 2; It is characterized in that; The reference position of the said definite bearing ink pad of step (1) and Three Degree Of Freedom silk screen adjustment platform comprises: confirm rotation transmitting device the undertake the printing of angle-differentiated of station or the reciprocal conveyer station distance of undertaking the printing of; And definite Three Degree Of Freedom silk screen adjustment stage fiducial place-centric is consistent with the center, reference position of bearing ink pad, confirms to demarcate the corresponding identification point line of silk screen or steel mesh and overlaps with the bearing ink pad center line.
5. scaling method according to claim 2 is characterized in that the said some stocks of step (2) location camera, some silk screens location camera and ejecting plate station camera parameter comprise camera operating distance, focal length, aperture and visual field size; The installation of some stocks location camera, some silk screens location camera and ejecting plate station camera comprises each stock location camera of adjustment, each silk screen location camera and ejecting plate station camera position angle; Tentatively establish between each camera and the benchmark relation between each camera and the reference object, establish the benchmark of ejecting plate station camera and the mapping relations of ejecting plate station camera and bearing ink pad.
6. scaling method according to claim 2; It is characterized in that benchmark and the pixel equivalent of step (3) through high-precision calibrating plate and machine vision algorithm demarcation stock location camera; Confirm the pixel equivalent and camera self direction of each stock location camera, finally establish the whole benchmark mapping relations of the some stocks location cameras and the platform of promising.
7. scaling method according to claim 2; It is characterized in that motion and machine vision algorithm that step (4) is adjusted platform X/Y axle through the Three Degree Of Freedom silk screen calculate fine setting camera position and direction or image shift; Make the direction of motion of uncalibrated image consistent with the moving direction of printing machine X/Y axle; Obtain Three Degree Of Freedom silk screen adjustment platform move distance and picture pixel distance relation, set up the benchmark mapping relations of silk screen location camera and Three Degree Of Freedom silk screen adjustment platform.
8. scaling method according to claim 2; It is characterized in that; Step (5) obtains the relation of each bearing ink pad benchmark on Three Degree Of Freedom silk screen adjustment stage fiducial and the conveyer through the detection of the pattern and the machine vision algorithm of serigraphy, sets up mapping relations respectively; And then pass through the detection and Identification that stock is located camera, set up mapping relations with stock location camera self benchmark.
9. scaling method according to claim 2; It is characterized in that; Step (6) is through silk screen location camera and Three Degree Of Freedom silk screen adjustment stage fiducial mapping relations, Three Degree Of Freedom silk screen adjustment stage fiducial and each bearing ink pad location map relation, each bearing ink pad position and each stock location camera position mapping relations; Final related silk screen location camera, transmission transposition, each bearing ink pad and stock are located the benchmark of camera, set up the benchmark of whole screen printing apparatus.
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