CN104647385A - Positioning system - Google Patents
Positioning system Download PDFInfo
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- CN104647385A CN104647385A CN201310601846.6A CN201310601846A CN104647385A CN 104647385 A CN104647385 A CN 104647385A CN 201310601846 A CN201310601846 A CN 201310601846A CN 104647385 A CN104647385 A CN 104647385A
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- computer
- controller
- mechanical arm
- acquisition device
- test pattern
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Abstract
The invention discloses a positioning system. The positioning system comprises an image collector, a computer, a controller and a mechanical arm; the image collector is in circuited connection with the computer, the computer is in circuited connection with the controller, and the controller is in circuited connected with the mechanical arm, wherein the image collector transmits the collected testing image to the computer, and the computer includes an image processing module; the image processing module processers the testing image information, and the computer compares the testing image information with the standard image information stored in the computer originally, and calculates the position bias; the computer sends a command according to the position bias so as to control the controller to make the mechanical arm perform the position adjusting until that the testing image is completely overlapped with the standard image, and then the positioning is completed.
Description
[technical field]
The present invention relates to a kind of navigation system, particularly a kind of navigation system for panel production line.
[background technology]
Along with human cost is increasingly sharpened, produce line and introduce mechanical arm gradually to replace manually, mechanical arm has been widely used in as automatically assembled, combining and extract object or some tools dangerous, difficult and be not suitable for the work that manpower undertakes.In the control of mechanical arm automation, need the movement locus that accurately can control mechanical arm.Therefore adopt mechanical arm and IMAQ, image processing techniques combines, and carries out maintenances computing by computer to the image collected, and makes mechanical arm be the needs producing line production according to accurately orbiting motion according to output control control module.
[summary of the invention]
The technical problem to be solved in the present invention is to provide a kind of navigation system, this navigation system and IMAQ, and image processing techniques combines, and accurately can locate sheet material.
For solving the problems of the technologies described above, a kind of navigation system of the present invention, comprises image acquisition device, computer, controller and mechanical arm; Computer described in described image acquisition device connection, described computer circuitry connects described controller, and described controller line connects described mechanical arm; Wherein, the test pattern collected is transferred in computer by described image acquisition device, containing image processing module in described computer, described image processing module processes test pattern information, computer contrasts the standard picture information stored original in test pattern information and computer, and calculating its position deviation, computer sends instruction control controller according to this position deviation makes mechanical arm carry out position adjustment until test pattern and standard picture overlap completely.
Preferably, described image acquisition device is DV.
Preferably, described controller is programmable logic controller (PLC) PLC.
Compared to prior art, a kind of navigation system of the present invention, to needing the sheet material of test to locate automatically and accurately in production line, can solve manual operation waste plenty of time and location inaccurate problem, being conducive to overall production control.
[accompanying drawing explanation]
Fig. 1 is the functional block diagram of navigation system of the present invention.
Fig. 2 is the image comparison diagram of navigation system of the present invention.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.
Refer to Fig. 1, be functional block diagram of the present invention, this navigation system 5 comprises image acquisition device 1, computer 2, controller 3, mechanical arm 4.Wherein, image processing module 21 is equipped with in described computer 2.Computer 2 described in described image acquisition device 1 connection, controller 3 described in described computer 2 connection, mechanical arm 4 described in described controller 3 connection, before bringing into use, according to product line actual needs, the predetermined point A0 that mechanical arm 4 captures sheet material under the effect of controller 3 delivers to image acquisition device 1, carries out IMAQ to the front of sheet material, obtain a standard picture S0, be stored in computer 2.Described predetermined point A0 can be the focus point of sheet material, the center of gravity of sheet material looks for the principle of center of gravity to measure by suspension method, sheet material is hung twice, and utilize RF transmitter to launch an infrared ray along the direction of suspension line, two ultrared intersection points are the center of gravity of sheet material at every turn.During use, the focus point A1 that mechanical arm 4 captures sheet material under the effect of controller 3 delivers to image acquisition device 1 and carries out IMAQ to its front, obtain test pattern S1, and be transferred in computer 2, image processing module 21 in described computer 2 carries out processing the standard picture S0 information originally stored in rear and computer 2 to described test pattern S1 information and contrasts, the relatively positional information of sheet material test pattern S1 and the positional information of standard picture S0, if there is deviation, then calculate this position deviation value by computer 2 and send corresponding instruction to controller 3 according to this position deviation, controller 3 controls mechanical arm 4 and carries out position adjustment up and down, test pattern S1 and standard picture S0 is overlapped completely, complete location, as shown in Figure 2.If the positional information of the test pattern S1 gathered is consistent with the positional information of standard picture S0, then do not need to position again.
In the above-described embodiments, described image acquisition device 1 is DV, and described controller is programmable logic controller (PLC) PLC.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (3)
1. a navigation system, is characterized in that, comprises image acquisition device, computer, controller and mechanical arm; Computer described in described image acquisition device connection, described computer circuitry connects described controller, and described controller line connects described mechanical arm; Wherein, the test pattern collected is transferred in computer by described image acquisition device, containing image processing module in described computer, described image processing module processes test pattern information, computer contrasts the standard picture information stored original in test pattern information and computer, and calculating its position deviation, computer sends instruction control controller according to this position deviation makes mechanical arm carry out position adjustment until test pattern and standard picture overlap completely.
2. navigation system according to claim 1, is characterized in that, described image acquisition device is DV.
3. navigation system according to claim 1, is characterized in that, described controller is programmable logic controller (PLC) PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310601846.6A CN104647385A (en) | 2013-11-25 | 2013-11-25 | Positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310601846.6A CN104647385A (en) | 2013-11-25 | 2013-11-25 | Positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104647385A true CN104647385A (en) | 2015-05-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310601846.6A Pending CN104647385A (en) | 2013-11-25 | 2013-11-25 | Positioning system |
Country Status (1)
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| CN (1) | CN104647385A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759720A (en) * | 2016-04-29 | 2016-07-13 | 中南大学 | Mechanical arm tracking and positioning on-line identification and correction method based on computer vision |
| CN106040613A (en) * | 2016-05-24 | 2016-10-26 | 四川研宝科技有限公司 | Automatic power detection method |
| CN108436905A (en) * | 2018-02-06 | 2018-08-24 | 中山微宇电器科技有限公司 | A kind of coordinate acquisition correction system of vending machine |
| CN109523580A (en) * | 2018-12-13 | 2019-03-26 | 法兰泰克重工股份有限公司 | A kind of calculation method of image capture module, image capture module and sorting system |
| CN111044939A (en) * | 2019-12-27 | 2020-04-21 | 成都天奥测控技术有限公司 | Intelligent test system and test method for avionics HMI interface |
| CN111951248A (en) * | 2020-08-12 | 2020-11-17 | 上海仁度生物科技有限公司 | Positioning calibration device and method for automatic nucleic acid extraction equipment |
-
2013
- 2013-11-25 CN CN201310601846.6A patent/CN104647385A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759720A (en) * | 2016-04-29 | 2016-07-13 | 中南大学 | Mechanical arm tracking and positioning on-line identification and correction method based on computer vision |
| CN106040613A (en) * | 2016-05-24 | 2016-10-26 | 四川研宝科技有限公司 | Automatic power detection method |
| CN108436905A (en) * | 2018-02-06 | 2018-08-24 | 中山微宇电器科技有限公司 | A kind of coordinate acquisition correction system of vending machine |
| CN109523580A (en) * | 2018-12-13 | 2019-03-26 | 法兰泰克重工股份有限公司 | A kind of calculation method of image capture module, image capture module and sorting system |
| CN111044939A (en) * | 2019-12-27 | 2020-04-21 | 成都天奥测控技术有限公司 | Intelligent test system and test method for avionics HMI interface |
| CN111951248A (en) * | 2020-08-12 | 2020-11-17 | 上海仁度生物科技有限公司 | Positioning calibration device and method for automatic nucleic acid extraction equipment |
| CN111951248B (en) * | 2020-08-12 | 2023-11-28 | 上海仁度生物科技股份有限公司 | Positioning calibration device and method for automatic nucleic acid extraction equipment |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150527 |