CN103134427B - Annulus Parts Recognition method - Google Patents
Annulus Parts Recognition method Download PDFInfo
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- CN103134427B CN103134427B CN201310071460.9A CN201310071460A CN103134427B CN 103134427 B CN103134427 B CN 103134427B CN 201310071460 A CN201310071460 A CN 201310071460A CN 103134427 B CN103134427 B CN 103134427B
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Abstract
The invention discloses a kind of annulus Parts Recognition apparatus and method, the different part of coupling is when conveying comes, the technical problem of uncertain first level in position in gap, employing is taken pictures and method based on image recognition is identified, and determines position on part, the gap, replace manpower, it is beneficial to realize automatization, is effectively improved efficiency of assembling, simultaneously, method based on image recognition can determine the position in gap accurately, it is ensured that assembly precision.Illumination then ensures the concordance of shooting effect, reduces the amount of calculation of subsequent treatment, and reduces interference factor, and then improves recognition effect.
Description
Technical field
The present invention relates to a kind of annulus Parts Recognition apparatus and method, belong to workpiece automatic vision identification technical field.
Background technology
In machining, assembling, sort and the automated production link such as storage, the identification technology that is automatically positioned of workpiece all has important effect.The present invention lays particular emphasis on identification, first explains automatization's identification technology here, and it has been obtained for being widely applied at production field.
For a person skilled in the art, should possess the general technology knowledge of identification automatically, it should be understood that extracting validity feature is the key solving automatic recognition problem, for different workpiece, it is contemplated that and extracts the method effectively adjusted, to improve the effect extracting validity feature.
Annulus is a kind of conventional industrial parts, is widely used in the fields such as vehicle, equipment, electric, instrument.Its material can be various metal, plastics, macromolecular material etc., visual identity is the most little to the requirement of material itself, only the optical signature of material is required of a relatively high, but in different applications, the suitable spectrum of feature selection of matching materials self and background can effectively solve this problem, in the identification automatically of workpiece, this problem does not results in significant impact to identification.When single-piece or negligible amounts, it identifies and there is no practical significance, and circle ring parts is the most all large batch of, thus, automatically identify the meaning with reality.
In some applications, for the requirement of assembling, annulus also has a gap.During the production and assembling of this type of traditional part, it it is all manual operation.Need the position manually carrying out judging or measure gap on round parts.Then next step operation could be entered.Being significantly increased in cost of labor, produce in the case of assembly precision requirement raising and production efficiency needs to improve, automated production, assembling the most progressively replace manual operation.It is therefore desirable to have a kind of automation equipment, it is possible to automatically identify annulus part and be accurately positioned gap position.
But during producing assembling, process conditions differ greatly, such as the difference of dimensions.Dimensions mentioned here includes multiple diameter and the part of multiple height.This situation is also required to automatically producing and having been resolved during assembling.
In some applications, use the method in gap described in localization by ultrasonic, utilizing ultrasonic interfere at gap or the feature of changes of echo obtains location to wind system, the most this location mode needs first setting circle ring body structurc portion to the part of different dimensions, and whole efficiency is poor.
In some implementations, the method using optical front projection shadow workpiece, on the table configuration larger area photo-sensing device, light is blocked in workpiece entity part, and slotted section luminous energy normal through, thus be accurately positioned workpiece gap.Although this algorithm is fairly simple, amount of calculation is smaller, but, configure large-area optical inducer shortage under most operating modes on the table and realize feasibility.
Summary of the invention
Thus, view-based access control model identification of the present invention, the recognition methods of a kind of band gap annulus part that can be effectively improved and produce efficiency of assembling and precision is proposed, on the other hand, it is provided that realize a kind of of the method and identify device.
According to one aspect of the present invention, a kind of annulus Parts Recognition device, including:
Photographing unit, is positioned at directly over part positioning device；
Processor module, connects described photographing unit, to drive photographing unit to shoot on predetermined opportunity, and reads the image of shooting, and processes this image, identifies the position in gap on annulus and annulus；
Trigger circuit, connect described processor module, trigger and produce described predetermined opportunity；
And it being positioned at the illuminator above part positioning device and illumination control circuit, wherein said illumination control circuit is directly connected to described processor module and is driven directly or drives via described photographing unit.
According to another aspect of the present invention, a kind of annulus Parts Recognition method, it comprises the following steps:
1) adjust workbench, make part annulus part be horizontally positioned after being conveyed through, and the surface of workpiece making photographing unit be positioned at and positioning；
2) part after being positioned is taken pictures, it is thus achieved that part photo；
3) image-recognizing method based on rim detection identifies annulus and gap；
4) determine under current state, position on part, the gap.
It should be understood that the basic parameter of part is all known, as can be seen from the above technical solutions, the different part of coupling is when conveying comes, the technical problem of uncertain first level in position in gap, employing is taken pictures and method based on image recognition is identified, and determines position on part, the gap, replace manpower, it is beneficial to realize automatization, is effectively improved efficiency of assembling, simultaneously, method based on image recognition can determine the position in gap accurately, it is ensured that assembly precision.Illumination then ensures the concordance of shooting effect, reduces the amount of calculation of subsequent treatment, and reduces interference factor, and then improves recognition effect.
On the other hand, based on the general consideration realized, photographing unit shoots photo for orthographic projection, and processor module, for the process of captured photo, realizes the hardware configuration needed for recognition methods with a kind of relatively simple configuration.
Above-mentioned annulus Parts Recognition device, is additionally provided with and shoots Tong Bu circuit unit for described illumination control circuit with photographing unit.
Above-mentioned annulus Parts Recognition device, described processor module is furnished with the interface communicated with host computer.
Above-mentioned annulus Parts Recognition device, described processor module has multiple input terminal, for mating the connection of the external drive signal circuit of operating mode.
Above-mentioned annulus Parts Recognition device, also includes the triggering circuit being connected to described processor module, for triggering and producing described predetermined opportunity.
Above-mentioned annulus Parts Recognition method, at least carries out light filling when taking pictures.
Above-mentioned annulus Parts Recognition method, during initialization, sets up the coordinate system with the positioning fixture center mating annulus Central of the parts as initial point, thus demarcates described gap when identifying with coordinate.
Above-mentioned annulus Parts Recognition method, described coordinate system is polar coordinate system.
Above-mentioned annulus Parts Recognition method, first described image-recognizing method is filtered, and is then based on brightness flop and carries out binaryzation, then search the position in gap by connected domain or carry out rim detection again, is searched the position in gap by edge coordinate relation.
Accompanying drawing explanation
Fig. 1 is the flow chart of a kind of annulus Parts Recognition method under normal bright state.
Fig. 2 is the flow chart of a kind of annulus Parts Recognition method under synchronous lighting state.
Fig. 3 is the location diagram of photographing unit and annulus part.
Fig. 4 is gap position coordinate schematic diagram.
Fig. 5 is a kind of annulus Parts Recognition unit construction principle block diagram.
Fig. 6 is a kind of annulus Parts Recognition unit construction principle block diagram.
Fig. 7 is state diagram when being identified of the signal annulus part, and in way, annulus part is with gray scale, expresses for recognition effect, does not interferes with the clear of figure.
Fig. 8 is visual identity design sketch.
Detailed description of the invention
Annulus is a kind of conventional industrial parts, can be used for the fields such as vehicle, equipment, electric, instrument.Its material can be various metal, plastics, macromolecular material etc..In some applications, for the requirement of assembling, annulus has a gap.In automatic production line, need part and gap are accurately positioned, subsequently into next step operation (such as welding, assembling etc.).For these parts, the position coordinates in the annulus center of circle is given data.The diameter of annulus part and height are all given datas.But the diameter of annulus and be not fixed value, but in the range of certain, such as several millimeters to tens centimetres.The most each part has height and the diameter of their own.But the position in gap is unknown.
It is to be understood that, photographing unit as shown in Figure 31 is with the structure shown in annulus part 2, and workbench/tool platform should optically have with part and compares high discrimination, and those skilled in the art is the most easy to understand, in optical identification, described discrimination should be and reduces the basic configuration identifying difficulty.
And then, in order to reduce the difficulty of identification, answer orthographic projection to shoot annulus, it is to avoid captured annulus ovalisation out.So there is a requirement that down, image capture device, namely the photographing unit 1 shown in Fig. 3 is arranged in the surface of part positioning device, and camera gun should be coaxial with annulus part in other words.Based on coaxial guarantee, being on workbench the setting of the annulus fixture of configuration, the coaxial location positioning fixture used at the countershaft/annular workpieces of machinery belongs to the more commonly used parts, and lays particular emphasis on identification herein, does not repeats them here for location.
Location workpiece and image capture device are the protection conditions of recognition methods, and eccentric shooting will certainly produce oval image, be unfavorable for follow-up process because of transparent effect.
About described photographing unit 1, herein as it was previously stated, for the end face photo shooting annulus, top view in other words, in order to reduce the difficulty of subsequent treatment, preferably with black and white camera, color camera naturally also can be used.
Photographing unit is controlled by external command and shoots, it is thus achieved that the overhead view image of initial ring-shaped work pieces, it should here be understood that, the anchor ring of annulus part is horizontal, in other words axis vertical state.
In some applications, natural light disclosure satisfy that the needs of shooting, and when shooting counter productive is affected little by natural light, can directly use photographing unit to shoot.
Natural light has unstability and time difference property, and is easily disturbed by extraneous factor, it is desirable for this purpose that be configured to the equipment of light filling, the effect of light filling should eliminate the external light source impact on shooting effect.
Mate corresponding image-recognizing method, interference factor should be reduced as far as possible, reduce and identify difficulty and amount of calculation, improve computational efficiency.
Thus as it is shown in fig. 7, configuration illuminator 4, this illuminator can use the industrial light compensating lamp that power is relatively small, in order to reduce cost, it is also possible to use LED lamp, mate photographing unit, it is also possible to use the exposure light fixture of photographing unit.Light source should be monochromatic light or white light, thus fluorescent lamp can also use in some applications.
Illumination uses two ways, and one is normal bright state, it is not necessary to arranging the control circuit to luminaire coupling photographing unit, it is only necessary to power circuit, structure is relatively simple, and cost is relatively low, but under same radiation parameter, energy consumption is of a relatively high.Under this condition, using as fluorescent lighting fixture is relatively suitable, its on-off times is often restricted, it is adaptable to this application conditions.
And in other are applied, when especially needing batch identification workpiece, need to use the higher lighting of switch life, to reduce energy consumption, meanwhile, with the mode of Tong Bu exposure of taking a picture in response to the long light source of switch life.
Provide control and processing equipment, core parts the most as shown in Figure 5 and Figure 6, processor module, plan as a whole control and the image procossing of connected device.
This processor module should include the processor of logical process operation control, the random access memory of temporal data, storage bootstrap and the read only memory of processing routine, and the firmware of some necessity, and configure interface circuit to connect corresponding equipment, such as photographing unit.
In the structure shown in Fig. 5, luminaire is directly controlled by processor module, it is also possible to not via processor module, an independent on-off circuit, in the structure shown in Fig. 6, is similar to a photographing unit integrated with luminaire, cut down the number of intermediate links, be more beneficial for Synchronization Control.
In some applications, configure communication interface for processor module, be used for and external equipment, especially host computer communication, be easy to the centralized Control part with automatic assembly line with host computer communication and be connected, it is simple to centralized Control.Communication module selects the industrial series interface of the standards such as RS232, RS485.The process order of outside can be received, as started to take pictures, identify and location etc., it is also possible to the information conveyance identified to external equipment, on the equipment of subsequent processing.
In some applications, processor module reserves some I/O terminals, convenient extension, the such as access of some switch.
Configuration is connected to the triggering circuit of described processor module, shows that workpiece puts in place, can take a picture, provides the opportunity of lighting shooting.
Trigger the sensor that circuit can be connected on positioning tool such as above-mentioned reserved I/O terminal, such as position sensor, show that workpiece puts in place, it is also possible to receive the control of host computer.It is mainly used in triggering processor and camera starts to take pictures, identify and position.
As depicted in figs. 1 and 2, opening initialization, loading procedure, initiating port, ring-shape accessory lies on workbench or tooling platform, and its axis is perpendicular to workbench or tooling platform, convenient location.
Photographing unit 1 is placed in directly over annulus part 2, preferably mate corresponding frock, need not be adjusted every time, same class part for same batch, once adjust and can meet most needs, and the change in location of trace will not produce significant impact to image procossing, same model part is relatively easily processed, use a pair backing pin both can complete being accurately positioned of part, two pieces of baffle plates at an angle can also be used, but should reduce the impact on image procossing amount of calculation that positioning tool is brought as far as possible, make the thickness thickness less than part of corresponding frock, color contrast is the strongest.
Illuminator 4 is also placed in above annulus part 2, its axis and the dead in line of annulus.It should here be understood that, illuminator may not use a lamp, but lamp array, axis here is interpreted as the centrage of array.As it is shown in fig. 7, this is clearly showed that.
As it is shown on figure 3, photographing unit 1 is D apart from the distance of workbench or tooling platform, annulus part 2 height is H, then photographing unit 1 is h=D-H apart from the vertical dimension of annulus part 2 end face.In this case, only it is to be understood that the height of annulus part 2 or the diameter of part, it is possible to calculate other parameter.
Entering waiting state after identifying device start, that waits interface to be triggered triggers signal or the sense command of communication interface.When having triggering signal or sense command, identify that device starts to take pictures, then carry out image procossing, identify annulus and the center of circle, and calculate the position in gap.The position in gap calculates according to coordinated manner, can accurately position, and its form can be rectangular coordinate, it is also possible to be polar coordinate, and polar coordinate then have more preferable effect, show as amount of calculation relatively small, and with reference to can directly mark orientation angle parameter.
As shown in Figure 4, A1(x1, y1) and A2(x2, y2) it is two end points in gap, the two end points can be the inward flange point of annulus, it is also possible to be the outward flange point of annulus, all will not produce impact to calculating.(x y) is the intermediate point of A1 and A2 in gap to A.The polar coordinate of A1, A2 and A are expressed as A1(r, θ 1), A2 (r, θ 2) and A(r, θ).Wherein, r is annular radii.As required, device can export the coordinate of A1 and A2, it is also possible to the coordinate of output A.Coordinate format can be rectangular coordinate, it is also possible to be polar coordinate.
Image recognition technology is the most ripe, and especially for the object that circle ring parts is this-relatively simple, common recognition methods typically can meet requirement.
The image-recognizing method based on rim detection on basis is relatively simple, and processing speed ratio is very fast, should preferably be such that use.
Image processing section is broadly divided into four steps, i.e. image smoothing, binaryzation, rim detection and gap and searches.
First Processing Algorithm carries out image smooth and i.e. filters, to reduce the noise impact on subsequent treatment in image., especially in the content of signature, under conditions of deliberately enhancing contrast.Binaryzation after so is the most just easier.The general window data using NxN of filtering utilizes gaussian filtering, medium filtering, intermediate value to filter, it would however also be possible to employ the method that isolated point eliminates.
Binaryzation is that image slices vegetarian refreshments is divided into black and white two kinds of colors.Its method is mainly judged by threshold value.Actual application can use global threshold or local threshold.
The method that image after binaryzation can directly use connected domain to judge finds out the position in gap, it is also possible to carries out rim detection, then detects the position in gap.Rim detection can use the method such as first differential, Kirsch operator edge detection.
Then image after rim detection is searched and is determined the position in gap.The position in gap can be judged according to the coordinate relation of marginal point.
Above method belongs to conventional image processing method, is the most no longer described in detail.
In order to improve recognition effect, image being carried out binaryzation, its effect is as shown in Figure 8, it is possible to clearly define the profile of annulus part.
Lighting system can be divided into normal lit and synchronous mode.So-called often lit, it is simply that after start, before preparation detection, illumination being opened, even if taking pictures or detecting complete, illumination is not closed, and illumination remains opens.So-called synchronous mode, it is simply that only when taking pictures or the imageing sensor of photographing unit is when integration (or photosensitive), illumination is just opened, and illuminates At All Other Times and is turned off.This mode can save electric energy, and can extend the life-span of lighting module.
One more specifically embodiment: entering waiting state after detection device start, that waits interface to be triggered triggers signal or the sense command of communication interface.When having triggering signal or sense command, detection device starts to take pictures, and then carries out image procossing, identifies annulus and the center of circle, and calculate the position in gap 5.The position in gap 5 calculates according to coordinated manner, and its form can be rectangular coordinate, it is also possible to be polar coordinate.As it can be seen, A1(x1, y1) and A2(x2, y2) it is two end points in gap, (x y) is the intermediate point of A1 and A2 in gap to A.The polar coordinate of A1, A2 and A are expressed as A1(r, θ 1), A2 (r, θ 2) and A(r, θ).Wherein, r is annular radii.As required, device can export the coordinate of A1 and A2, it is also possible to the coordinate of output A.Coordinate format can be rectangular coordinate, it is also possible to be polar coordinate.
Above-mentioned image processing algorithm mainly includes the conventional algorithms such as filtering, binaryzation, rim detection, gap lookup.
Claims (3)
1. an annulus Parts Recognition method, it is characterised in that it comprises the following steps:
1) adjust workbench, make annulus part be horizontally positioned after being conveyed through, and make photographing unit be positioned at the surface of the annulus part being positioned；
2) the annulus part after being positioned is taken pictures, it is thus achieved that annulus part photo；
3) image-recognizing method based on rim detection identifies annulus and the gap of annulus part；
4) determine under current state, position on annulus part, the gap；
Light filling is at least carried out when taking pictures；
During initialization, set up the coordinate system with the positioning fixture center mating annulus Central of the parts as initial point, thus demarcate described gap when identifying with coordinate.
Annulus Parts Recognition method the most according to claim 1, it is characterised in that described coordinate system is polar coordinate system.
Annulus Parts Recognition method the most according to claim 1, it is characterized in that, first described image-recognizing method is filtered, and is then based on brightness flop and carries out binaryzation, search the position in gap by connected domain again or carry out rim detection again, being searched the position in gap by edge coordinate relation.
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| CN112355710A (en) * | 2020-10-20 | 2021-02-12 | 苏州浩智工业控制技术有限公司 | CCD-based CNC workpiece machining method and system |
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| CN109202802B (en) * | 2018-11-14 | 2020-10-16 | 山东大学 | Visual guide system and method for clamping assembly |
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| JP2000046651A (en) * | 1998-07-28 | 2000-02-18 | Sumitomo Electric Ind Ltd | Wire appearance inspection device |
| US6765224B1 (en) * | 2000-12-29 | 2004-07-20 | Cognex Corporation | Machine vision method and system for the inspection of a material |
| KR100495120B1 (en) * | 2002-09-26 | 2005-06-14 | (주) 인텍플러스 | Apparatus and method for a fast capturing a scan image |
| JP5022793B2 (en) * | 2007-07-02 | 2012-09-12 | 日東電工株式会社 | Method for detecting defect position of semiconductor wafer |
| CN202002894U (en) * | 2011-01-10 | 2011-10-05 | 山东轻工业学院 | Quick online paper flaw detecting system based on machine vision |
| CN102636490B (en) * | 2012-04-12 | 2014-01-15 | 江南大学 | Method for detecting surface defects of dustproof cover of bearing based on machine vision |
| CN102692418A (en) * | 2012-06-13 | 2012-09-26 | 北京优纳科技有限公司 | Equipment and method for detecting appearances and functions of flat panel display screens |
| CN202710486U (en) * | 2012-07-20 | 2013-01-30 | 朱飞虎 | Automatic detection device of metal self-adhesive label |
| CN203100680U (en) * | 2013-03-07 | 2013-07-31 | 苏州吉视电子科技有限公司 | Circular ring part identifying device |
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Effective date of registration: 20170901 Address after: Suzhou City, Jiangsu Province, Suzhou Industrial Park 215123 Xinghu Street No. 218 BioBAY A4-520 Patentee after: Suzhou Jujia Electronic Technology Co., LTD. Address before: 215500 building T2, Southeast campus of Changshu Institute Of Technology, Jiangsu, Suzhou Patentee before: GFocus Technologies Co., Ltd. |