CN103453889A - Calibrating and aligning method of CCD (Charge-coupled Device) camera - Google Patents
Calibrating and aligning method of CCD (Charge-coupled Device) camera Download PDFInfo
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- CN103453889A CN103453889A CN2013104252416A CN201310425241A CN103453889A CN 103453889 A CN103453889 A CN 103453889A CN 2013104252416 A CN2013104252416 A CN 2013104252416A CN 201310425241 A CN201310425241 A CN 201310425241A CN 103453889 A CN103453889 A CN 103453889A
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Abstract
The invention relates to a calibrating and aligning method of a CCD (Charge-coupled Device) camera. An aligning platform and two CCD cameras are used in the method; during calibration, a standard sample is fixed on the aligning platform, the aligning platform quantitatively deviates and rotates on the horizontal plane, the two CCD cameras record the coordinate of a Mark point after each motion, and the conversion relation between each coordinate system of the CCD cameras and the coordinate system of the aligning platform is obtained through calculating the change of the Mark point; after the calibration of the two CCD cameras is finished, a product to be processed can be aligned by means of the conversion relation. The method has the advantages that during calibration, the aligning platform is controlled to horizontally move and rotate, the change of the Mark point is respectively captured by using the two CCD cameras, and the conversion relation between the coordinates is obtained through calculation; during alignment, the position coordinate of the Mark point of the product is directly captured by using the two CCD cameras, the actual deviation value is obtained after a series of calculations are carried out, and then, the alignment is carried out; the CCD cameras are not required to be moved in both the calibration and alignment processes, so that the precision loss is reduced, the calibrating and aligning precisions are improved, and the calibrating and aligning speeds are increased.
Description
Technical field
The present invention relates to the Machine Vision Detection field, relate in particular to a kind of ccd video camera calibration alignment method.
Background technology
In paste solder printing and laminating industry, often need to repeat contraposition to high precision, particularly along with in recent years, mobile phone market burning hot, in glass printing and mobile phone film are fitted, proposed higher precision and efficiency requirement.Traditional pin, fixture location have been difficult to reach technological requirement.
People transfer to sight on the machine vision automatic aligning gradually, bring into use between two MarK points of a CCD on product and move, in moving process, be difficult to the error of avoiding mechanical motion to bring, cause the conversion of three coordinate systems of calibration to have error, directly have influence on the precision of calibration and contraposition, and need from diagonal angle one of wait CCD, move to other end, speed is lower.
Summary of the invention
The object of the invention is to for overcoming the defect of prior art, and a kind of ccd video camera calibration alignment method is provided, with the precision that improves calibration and contraposition and the speed that improves contraposition.
For achieving the above object, the present invention is by the following technical solutions:
A kind of ccd video camera calibration alignment method comprises the following steps:
S1, standard model is fixed on bit platform, on standard model, with the Mark point, there are to two ccd video cameras the bit platform top, and control module is controlled bit platform and two ccd video cameras is started working;
S2, the calibration of two ccd video cameras: bit platform is done on surface level to quantitative skew and rotation, after to bit platform, motion stops, two ccd video cameras record the Mark point place coordinate to standard model after each motion of bit platform, the variation of ordering by calculating Mark, draw the coordinate system of ccd video camera and the transformational relation of contraposition platform coordinate system;
S3, the contraposition before product processing: product enters the contraposition platform on production line, and ccd video camera obtains the Mark point coordinate of product, moves and makes product align to reference position to bit platform.
Further, step S2 comprises the following steps:
S21, control bit platform returned to initial point, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
0;
S22, control bit platform moved to 1mm at the directions X of surface level, and motion stops, after image stabilization, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
1, will be to the actual displacement of bit platform divided by a M
1to a M
0the variation distance, draw on the directions X of surface level the ratio between the pixel of the actual range of bit platform and ccd video camera;
S23, return original position to bit platform, controls the mobile 1mm of Y-direction (Y-direction is vertical with directions X) at surface level to bit platform, move stop, after image stabilization, the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
2, will be to the actual displacement of bit platform divided by a M
2to a M
0the variation distance, draw on the Y-direction of surface level the ratio between the pixel of the actual range of bit platform and ccd video camera;
S24, return original position to bit platform, controls 0.2 degree that bit platform is turned clockwise on surface level, and motion stops, after image stabilization, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
3;
S25, control and bit platform to be rotated counterclockwise on surface level to 0.4 degree, and motion stops, after image stabilization, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
4, pass through M
0, M
3and M
4coordinate figure calculate rotation center.
Further, in step S2 operating process, a Mark point of ccd video camera search, the Mark point coordinate that two ccd video cameras obtain carries out separately respectively computing, draws respectively the coordinate system of two ccd video cameras and the transformational relation of contraposition platform coordinate system.
Further, step S3 detailed process is: after ccd video camera has been calibrated, two ccd video cameras keep motionless, product to be processed enters the contraposition platform on production line, ccd video camera obtains Mark point position and converts platform coordinate to fastens the coordinate that Mark is ordered, compare and draw departure with reference position, then move or the Turning matched platform makes Mark point alignment reference position.
Further, further comprising the steps of after step S3:
S4, if step S3 contraposition success is carried out next process to product; If step S3 contraposition failure, will set back and restart contraposition bit platform.
The present invention's beneficial effect compared with prior art is:
(1) method of the present invention has used two ccd video cameras to carry out the Mark point on the match-on criterion sample when calibration, control is to bit platform translation, rotation, and use ccd video camera to catch the variation relation that on standard model, Mark is ordered, calculate coordinate transformation relation; When contraposition, two CCD directly catch product Mark point position coordinates, by drawing the actual deviation amount after series of computation, are then aimed at; Calibration needs the loss of significance in mobile ccd video camera moving process while all having avoided using a ccd video camera with the process of contraposition, thereby has improved the precision of calibration and contraposition, has also improved the speed of contraposition and calibration.
(2) by controlling, bit platform is moved and rotates on surface level when calibration in the present invention, catch with ccd video camera the variation that on standard model, Mark is ordered, by simply calculating the transformational relation of ccd video camera coordinate system and contraposition platform coordinate system, greatly simplified ccd video camera and demarcated the step of calibrating, also shortened ccd video camera and demarcated the time that calibration consumes.
The accompanying drawing explanation
The process flow diagram that Fig. 1 is the embodiment of the present invention
Embodiment
In order to more fully understand technology contents of the present invention, below in conjunction with specific embodiment, technical scheme of the present invention is described further and illustrates.
The general flow chart of the embodiment of the present invention as shown in Figure 1.Ccd video camera calibration alignment method of the present invention has comprised following steps:
Step S1, standard model is fixed on bit platform, on standard model, with the Mark point, there are to two ccd video cameras the bit platform top, and control module is controlled bit platform and two ccd video cameras is started working;
Step S2, the calibration of two ccd video cameras: bit platform is done on surface level to quantitative skew and rotation, after to bit platform, motion stops, two ccd video cameras record the Mark point place coordinate to standard model after each motion of bit platform, the variation of ordering by calculating Mark, draw the coordinate system of ccd video camera and the transformational relation of contraposition platform coordinate system;
Step S3, the contraposition before product processing: product enters the contraposition platform on production line, and ccd video camera obtains the Mark point coordinate of product, moves and makes product align to reference position to bit platform;
Step S4, if step S3 contraposition success is carried out next process to product; If step S3 contraposition failure, will set back and restart contraposition bit platform.
Particularly, step S2 comprises the following steps:
Step S21, control bit platform returned to initial point, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
0;
Step S22, control bit platform moved to 1mm at the directions X of surface level, and motion stops, after image stabilization, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
1, will be to the actual displacement of bit platform divided by a M
1to a M
0the variation distance, draw on the directions X of surface level the ratio between the pixel of the actual range of bit platform and ccd video camera;
Step S23, return original position to bit platform, controls the mobile 1mm of Y-direction (Y-direction is vertical with directions X) at surface level to bit platform, move stop, after image stabilization, the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
2, will be to the actual displacement of bit platform divided by a M
2to a M
0the variation distance, draw on the Y-direction of surface level the ratio between the pixel of the actual range of bit platform and ccd video camera;
Step S24, return original position to bit platform, controls 0.2 degree that bit platform is turned clockwise on surface level, and motion stops, after image stabilization, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
3;
Step S25, control and bit platform to be rotated counterclockwise on surface level to 0.4 degree, and motion stops, after image stabilization, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
4, pass through M
0, M
3and M
4coordinate figure calculate rotation center.
Particularly, in step S25, pass through M
0, M
3and M
4coordinate figure calculate the algorithm that rotation center uses and be: use M
0and M
3coordinate calculate M
0and M
3the perpendicular bisector linear equation in two unknowns, in like manner can obtain M
0and M
4the perpendicular bisector linear equation in two unknowns, then obtain the intersecting point coordinate of two equations, this intersecting point coordinate is exactly the coordinate of rotation center.
Particularly, in step S2 operating process, a Mark point of ccd video camera search, the Mark point coordinate that two ccd video cameras obtain carries out separately respectively computing, draws respectively the coordinate system of two ccd video cameras and the transformational relation of contraposition platform coordinate system.The purpose of doing like this is can carry out converted coordinate to two Mark points separately respectively in formally to product aligning to be processed, makes the precision of contraposition be improved.
Step S3 detailed process is: after ccd video camera has been calibrated, enter the contraposition flow process, if ccd video camera and the relative position of the original position of bit platform is remained unchanged since then, just do not need so again ccd video camera to be calibrated.If service time is long, the vibration of machine makes ccd video camera and the relative position of the original position of bit platform is had to change, is necessary ccd video camera is re-started to calibration.In the contraposition process, two ccd video cameras keep motionless, product to be processed enters the contraposition platform on production line, product introduction is to bit platform within sweep of the eye the time, control module receives low level contraposition signal, ccd video camera starts the point of the Mark on searching products in the field of view scope, ccd video camera obtains Mark point position and converts platform coordinate to fastens the coordinate that Mark is ordered, compare and draw departure with reference position, then move or the Turning matched platform makes Mark point alignment reference position.
In step S4, when the Mark point moves in accuracy rating, control module will send a contraposition and become function signal to the next PLC, and the product that contraposition is good is sent in subsequent processing.After subsequent handling finishes, PLC need to, to an initial point signal to control module, make bit platform is got back to initial point, so that contraposition next time.If contraposition is unsuccessful, bit platform is directly returned to initial point contraposition again, send a contraposition failure signal to the next PLC simultaneously.
Above statement only further illustrates technology contents of the present invention with embodiment, so that the reader is easier to understand, but does not represent that embodiments of the present invention only limit to this, and any technology of doing according to the present invention is extended or recreation, all is subject to protection of the present invention.
Claims (5)
1. a ccd video camera calibration alignment method, is characterized in that, comprises the following steps:
S1, standard model is fixed on bit platform, on standard model, with the Mark point, there are to two ccd video cameras the bit platform top, and control module is controlled bit platform and two ccd video cameras is started working;
S2, the calibration of two ccd video cameras: bit platform is done on surface level to quantitative skew and rotation, after to bit platform, motion stops, two ccd video cameras record the Mark point place coordinate to standard model after each motion of bit platform, the variation of ordering by calculating Mark, draw the coordinate system of ccd video camera and the transformational relation of contraposition platform coordinate system;
S3, the contraposition before product processing: product enters the contraposition platform on production line, and ccd video camera obtains the Mark point coordinate of product, moves and makes product align to reference position to bit platform.
2. ccd video camera calibration alignment method as claimed in claim 1, is characterized in that, described step S2 comprises the following steps:
S21, control bit platform returned to initial point, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
0;
S22, control bit platform moved to 1mm at the directions X of surface level, and motion stops, after image stabilization, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
1, will be to the actual displacement of bit platform divided by a M
1to a M
0the variation distance, draw on the directions X of surface level the ratio between the pixel of the actual range of bit platform and ccd video camera;
S23, return original position to bit platform, controls the mobile 1mm of Y-direction (Y-direction is vertical with directions X) at surface level to bit platform, move stop, after image stabilization, the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
2, will be to the actual displacement of bit platform divided by a M
2to a M
0the variation distance, draw on the Y-direction of surface level the ratio between the pixel of the actual range of bit platform and ccd video camera;
S24, return original position to bit platform, controls 0.2 degree that bit platform is turned clockwise on surface level, and motion stops, after image stabilization, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
3;
S25, control and bit platform to be rotated counterclockwise on surface level to 0.4 degree, and motion stops, after image stabilization, and the Mark point of ccd video camera search criterion sample, record current Mark point coordinate, is designated as a M
4, pass through M
0, M
3and M
4coordinate figure calculate rotation center.
3. ccd video camera as claimed in claim 1 or 2 is calibrated alignment method, it is characterized in that, in described step S2 operating process, a Mark point of a ccd video camera search, the Mark point coordinate that two ccd video cameras obtain carries out separately respectively computing, draws respectively the coordinate system of two ccd video cameras and the transformational relation of contraposition platform coordinate system.
4. ccd video camera as claimed in claim 1 or 2 is calibrated alignment method, it is characterized in that, described step S3 detailed process is: after ccd video camera has been calibrated, two ccd video cameras keep motionless, product to be processed enters the contraposition platform on production line, ccd video camera obtains Mark point position and converts platform coordinate to fastens the coordinate that Mark is ordered, and with reference position, compares and draws departure, then moves or the Turning matched platform makes Mark point alignment reference position.
5. ccd video camera calibration alignment method as claimed in claim 1 or 2, is characterized in that, further comprising the steps of after step S3:
S4, if step S3 contraposition success is carried out next process to product; If step S3 contraposition failure, will set back and restart contraposition bit platform.
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| CN105773661A (en) * | 2016-03-30 | 2016-07-20 | 东莞市速美达自动化有限公司 | Horizontal robot fixed camera lower workpiece translation and rotation calibration method |
| CN106530357A (en) * | 2016-11-30 | 2017-03-22 | 深圳市泰沃德自动化技术有限公司 | Vision alignment control device and calibration method |
| CN106683138A (en) * | 2016-12-28 | 2017-05-17 | 华中科技大学 | Calibration method of solder paste printing machine camera |
| CN106950917A (en) * | 2017-01-23 | 2017-07-14 | 深圳市卓翼科技股份有限公司 | Camera calibrated method and device |
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| CN105678782A (en) * | 2016-01-22 | 2016-06-15 | 英华达（上海）科技有限公司 | Transformation method and system for image coordinate system and machinery coordinate system |
| CN105773661A (en) * | 2016-03-30 | 2016-07-20 | 东莞市速美达自动化有限公司 | Horizontal robot fixed camera lower workpiece translation and rotation calibration method |
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| CN111982071A (en) * | 2019-05-24 | 2020-11-24 | Tcl集团股份有限公司 | 3D scanning method and system based on TOF camera |
| CN111982071B (en) * | 2019-05-24 | 2022-09-27 | Tcl科技集团股份有限公司 | 3D scanning method and system based on TOF camera |
| CN110095072A (en) * | 2019-06-14 | 2019-08-06 | 厦门市计量检定测试院 | The calibration assemblies and its repositioning method of the online Size Measuring System of CCD |
| CN112381827A (en) * | 2021-01-15 | 2021-02-19 | 中科慧远视觉技术(北京)有限公司 | Rapid high-precision defect detection method based on visual image |
| CN112365502A (en) * | 2021-01-15 | 2021-02-12 | 中科慧远视觉技术(北京)有限公司 | Calibration method based on visual image defect detection |
| CN113379622A (en) * | 2021-05-27 | 2021-09-10 | 中科晶源微电子技术（北京）有限公司 | Pixel size calibration method, device and equipment for electron beam defect detection |
| WO2022246898A1 (en) * | 2021-05-27 | 2022-12-01 | 中科晶源微电子技术（北京）有限公司 | Pixel size calibration method, apparatus, and device for electron beam defect detection |
| CN114549560A (en) * | 2022-03-02 | 2022-05-27 | 科为升视觉技术（苏州）有限公司 | Chip cutting route calculation method, system and readable storage medium |
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