CN105607651A - Rapid aligning system and method via visual guiding - Google Patents
Rapid aligning system and method via visual guiding Download PDFInfo
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Abstract
The invention discloses a rapid aligning system and method via visual guiding. The system comprises a display, a processing host, a motion control PLC, a motion mechanism and an industrial camera, wherein the motion mechanism is composed of a servo controller and a tri-axial platform; the processing host is provided with a template learning module, a template matching module, a camera calibration module, an aligning module and a database; the processing host is connected with the display, the motion control PLC, the industrial camera and the servo controller; the servo controller is connected with the tri-axial platform visually; and the motion control PLC is in circuit connection with the servo controller. The method comprises the following steps of a) learning a workpiece template; b) calibrating a camera; c) learning the standard position; and d) aligning. According to the invention, the precision of aligning of multiple times can be realized in time for once aligning, the database is established to realize automatic compensation for system deviation, and the aligning precision and speed are greatly improved.
Description
Technical field
The present invention relates to the technique of counterpoint field of industrial automation equipment, relate in particular to one vision guide alignment system and method fast.
Background technology
In industrial automation equipment, many scenes are used vision guide to complete contraposition, positioning function. In practical application, in order to reach high accuracy, need that camera is repeatedly taken, motion repeatedly moves, once, once, each motion more approaches dreamboat position than motion last time to the image motion that mechanism obtains by camera in the general every shooting of camera; The time of a contraposition cycle period is made up of four parts, comprises time, camera shooting time, the mechanism kinematic time of before image processing algorithm time, camera are taken, waiting for mechanism stable. In order to improve aligning accuracy, generally repeatedly circulate, the more multipair bit time of cycle-index is longer, cause repeatedly moving time of cost is long, for this problem, in order to improve, bit rate is adopted to two schemes conventionally: scheme one: reduce contraposition number of times, even the producer that has realizes a contraposition. Improve speed although reduce contraposition number of times, also reduced to a certain extent final precision; Scheme two: reduce the elapsed time of each link, as far as possible the time of wait mechanism stable, raising mechanism kinematic speed, lifting image processing speed etc. before minimizing shooting; Although the time decreased of these links can to a certain degree improve speed, the degree that speed promotes is limited, and final speed is subject to the restriction of the system performances such as the rigidity of motion.
Summary of the invention
The invention provides one vision guide alignment system and method fast, the time of expending a contraposition can be realized the precision of repeatedly contraposition, has realized the auto-compensation of system deviation by building database, has improved greatly aligning accuracy and speed.
The object of the invention is to be achieved through the following technical solutions:
One is vision guide alignment system fast, it is characterized in that, this system comprises display, processing host, motion control PLC, motion and industrial camera, described motion is made up of servo controller and three-axis platform, is provided with Template Learning module, template matches module, camera calibration module, contraposition module and database in described processing host; Described processing host is connected with display, motion control PLC, industrial camera and servo controller respectively by circuit, and described servo controller and three-axis platform interconnect, and described motion control PLC circuit connects servo controller;
Wherein, described Template Learning module is for learning the special sign information on workpiece; Described template matches module is for determining the location of workpiece and the anglec of rotation according to special sign information; Described camera calibration module, for through template matches repeatedly, is obtained many group camera positions and motion movable informations, obtains camera resolution, the normalization of polyphaser coordinate system, change in coordinate axis direction corresponding informance by calibration algorithm; Described contraposition module is used for obtaining according to contraposition algorithm the amount of exercise of motion platform corresponding to workpiece target location, and utilizes motion control PLC drive motors to carry out contraposition; Described database is for storing value representation position deviation and the momental tables of data of the location of workpiece and this position.
Described three-axis platform is provided with the ad-hoc location for place work piece.
One is vision guide alignment method fast, it is characterized in that, the method comprises the following steps:
A, study workpiece template: the corner of special contraposition special sign, pattern or workpiece on study workpiece, camera is taken after special sign, moves by Template Learning, the customizing messages of the Algorithm Learning pattern in processing host;
B, camera calibration: motion carries workpiece and carries out special exercise according to algorithm requirement, camera catches special sign by algorithm requirement, obtain special sign coordinate and the anglec of rotation, through motion-captured special sign position repeatedly, the corresponding data that obtains many group camera positions and motion platform movable information, obtains camera resolution, the normalization of polyphaser coordinate system, change in coordinate axis direction corresponding informance by calibration algorithm;
C, study normal place: workpiece is placed on a side platform, and equipment mechanism arrives other platform according to normal operation mode by workpiece handling, record the location of workpiece of two platforms, respectively corresponding normal place;
D, contraposition: camera catches workpiece special sign, and image algorithm calculates the departure of special sign, obtained workpiece and will be reached the amount of exercise of target location by contraposition algorithm, motion control PLC moves according to described amount of exercise drive motors.
Described steps d specifically comprises:
System is carried out repeatedly contraposition, records the data of each contraposition;
The data of record are arranged, obtain workpiece supplied materials position and total momental corresponding data;
Set up described workpiece supplied materials position and total momental database according to the location of workpiece;
When workpiece contraposition, obtain the amount of exercise of each motor according to workpiece supplied materials position enquiring database, after contraposition, take and once carry out precision confirmation by camera;
Do not inquire the corresponding data of described supplied materials position in database time, system is carried out repeatedly contraposition, and records this group data filling in database; When aligning accuracy can not meet the demands, start repeatedly contraposition, record repeatedly contraposition data refresh.
Compared with prior art, the embodiment of the present invention at least has the following advantages:
In the embodiment of the present invention, vision guide alignment system of the present invention and method are without amendment hardware configuration, the time of expending a contraposition can be realized the precision of repeatedly contraposition, native system has self-healing property, can realize the deviation that the long-term operation of auto-compensation equipment causes, self-healing property function is the method for carrying out dynamic bias compensation based on look-up table; The present invention also passes through building database, ensureing that under precision, raising is to bit rate, operating part increases deviation newly, also can complete contraposition by automatic optimization of data storehouse, the present invention is applicable to multiple alignment system, and a workpiece uses the scene of one camera, polyphaser to be all suitable for.
Brief description of the drawings
The structured flowchart of a kind of alignment system of vision guide fast that Fig. 1 provides for the embodiment of the present invention;
The workflow schematic diagram of a kind of alignment method of vision guide fast that Fig. 2 provides for the embodiment of the present invention;
The coordinate schematic diagram in the contraposition deviation data storehouse in a kind of alignment method of vision guide fast that Fig. 3 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the present invention, the technical scheme in the present invention is clearly and completely described, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiment. Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
As Figure 1-Figure 2, for one vision guide alignment system and the method fast of embodiment of the present invention proposition, this system comprises display, processing host, motion control PLC, motion and industrial camera, motion is made up of servo controller and three-axis platform, is provided with Template Learning module, template matches module, camera calibration module, contraposition module and database in processing host; Processing host is connected with display, motion control PLC, industrial camera and servo controller respectively by circuit, and servo controller and three-axis platform interconnect, and motion control PLC circuit connects servo controller;
Wherein, Template Learning module is for learning the special sign information on workpiece; Template matches module is for determining the location of workpiece and the anglec of rotation according to special sign information; Camera calibration module, for through repeatedly catching special sign position, is obtained many group camera positions and motion movable information, obtains camera resolution, the normalization of polyphaser coordinate system, change in coordinate axis direction corresponding informance by calibration algorithm; Contraposition module is used for obtaining according to contraposition algorithm the amount of exercise of motion platform corresponding to workpiece target location, and utilizes motion control PLC drive motors to carry out contraposition; Database is for storing value representation position deviation and the momental tables of data of the location of workpiece and this position.
Further, three-axis platform is provided with the locating slot for place work piece.
Motion is regular integrated platform UVW, XY θ, XY+ θ, X θ+Y or X+Y θ, or other forms of mechanism; The whatsoever mechanism of form, as long as can realize to workpiece the adjustment of X, Y, θ dimension, all can realize native system object.
One is vision guide alignment method fast, it is characterized in that, the method comprises the following steps:
A, study workpiece template: the corner of special contraposition special sign, pattern or workpiece on study workpiece, camera moves by Template Learning after taking, the customizing messages of the Algorithm Learning pattern in processing host; As: gray scale is specific, contour feature etc. Afterwards, camera has been taken after the special sign of other workpiece, and image algorithm just can recognize special sign very soon, and can calculate fast the position of special sign and the angle information of rotation.
B, camera calibration: motion carries workpiece and carries out special exercise according to algorithm requirement, camera carries out template matches by algorithm requirement, obtain coordinate and the anglec of rotation after template matches, through motion-captured special sign position repeatedly, the corresponding data that obtains many group camera positions and motion platform movable information, obtains camera resolution, the normalization of polyphaser coordinate system, change in coordinate axis direction corresponding informance by calibration algorithm;
C, study normal place: workpiece is placed on a side platform, and equipment mechanism arrives other platform according to normal operation mode by workpiece handling, record the location of workpiece of two platforms, respectively corresponding normal place;
D, contraposition: complete after above-mentioned a, b, c step, system enters normal work, camera catches workpiece special sign, image algorithm calculates the departure of special sign, the amount of exercise that is obtained workpiece and will be reached target location by contraposition algorithm, motion control PLC moves according to amount of exercise drive motors.
Further, steps d contraposition process specifically comprises the following steps:
1, system is carried out repeatedly contraposition, records the data of each contraposition; Concrete, first equipment carry out repeatedly contraposition, records the related data of each contraposition: departure (the Δ x that workpiece current location (u, v), each contraposition need to be moved1/Δy1/Δθ1、Δx2/Δy2/Δθ2......Δxn/Δyn/Δθn), last aligning accuracy Δ x/ Δ y/ Δ θ;
2, the data of record are arranged, obtain workpiece supplied materials position and total momental corresponding data; Concrete, utilize list to record the location of workpiece (u, v) and corresponding movement warp amount Δ x/ Δ y/ Δ θ. Wherein Δ x=Δ x1+Δx2+......+Δxn、Δy＝Δy1+Δy2+......+Δyn、Δθ＝Δθ1+Δθ2+......+Δθn. Due to the deviation compensation of completing place, finally need to issue to each quantity of motion impulse, thus also can record workpiece departure and the corresponding various number of pulses that needs motion, namely: Δ x_plus/ Δ y_plus/ Δ θ _ plus. Wherein, Δ x_plus=Δ x1_pulse+Δx2_pulse+......+Δxn_pulse、Δy_plus＝Δy1_pulse+Δy2_pulse+......+Δyn_pulse、Δθ_plus＝Δθ1_pulse+Δθ2_pulse+......+Δθn_pulse。
3, set up workpiece supplied materials position and total momental database (as shown in Figure 3) according to the location of workpiece; Concrete, the data of step 2 are arranged according to the location of workpiece, obtain the tables of data taking each pixel as unit. Each location of pixels represents the position of workpiece, this position value representation position deviation and the amount that need to move. Certainly, the unit of transverse and longitudinal coordinate can arrange flexibly according to required precision, as: 1/2 pixel, 1/4 pixel, 2 times of pixels, 4 times of pixels etc.
4, when workpiece contraposition, obtain the amount of exercise of each motor according to workpiece supplied materials position enquiring database, after contraposition, take and once carry out precision confirmation by camera; Concrete, equipment is in service, and when workpiece supplied materials position be certain pixel value (u, v), angle while being θ, basis (u, v, θ) Query Database obtain the right amount of exercise of each motor at once. While setting up this database, this amount of exercise can meet the required precision of this side-play amount, so once motion.
When Query Database, want setting threshold, in the time that the difference of certain position in the location of workpiece and database is less than threshold value, can use the value of this position.
5, while not inquiring the corresponding data of supplied materials position in database, system is carried out repeatedly contraposition, and records this group data filling in database; When aligning accuracy can not meet the demands, start repeatedly contraposition, record repeatedly contraposition data refresh.
Compared with prior art, the embodiment of the present invention has the following advantages:
By the technical scheme of the embodiment of the present invention, vision guide alignment system of the present invention and method are without amendment hardware configuration, the time of expending a contraposition can be realized the precision of repeatedly contraposition, native system has self-healing property, can realize the deviation that the long-term operation of auto-compensation equipment causes, self-healing property function is the method for carrying out dynamic bias compensation based on look-up table; The present invention also passes through building database, ensureing that under precision, raising is to bit rate, operating part increases deviation newly, also can complete contraposition by automatic optimization of data storehouse, the present invention is applicable to multiple alignment system, and a workpiece uses the scene of one camera, polyphaser to be all suitable for.
The above; only for preferably detailed description of the invention of the present invention, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention. Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (4)
1. a vision guide alignment system fast, is characterized in that, this system comprises display, processingMain frame, motion control PLC, motion and industrial camera, described motion is by servo controller and threeShaft platform composition, is provided with Template Learning module, template matches module, camera calibration mould in described processing hostPiece, contraposition module and database; Described processing host by circuit respectively with display, motion control PLC,Industrial camera is connected with servo controller, and described servo controller and three-axis platform interconnect, described motionControl PLC circuit connects servo controller;
Wherein, described Template Learning module is for learning customizing messages on workpiece or other have symbolic characteristicInformation; Described template matches module for according to template matches to information determine the location of workpiece and the anglec of rotationDegree; Described camera calibration module, for obtaining position and angle information through template matches repeatedly, is obtained many groupsCamera position and motion movable information, obtain camera resolution, polyphaser coordinate system by calibration algorithmSystem normalization, change in coordinate axis direction corresponding informance; Described contraposition module is for obtaining workpiece order according to contraposition algorithmThe amount of exercise of motion platform corresponding to cursor position, and utilize motion control PLC actuation movement mechanism to carry out contraposition;Described database is for storing value representation position deviation and the momental data of the location of workpiece and this positionTable.
2. vision guide alignment system as claimed in claim 1, is characterized in that, on described three-axis platformBe provided with the ad-hoc location for place work piece.
3. a vision guide alignment method fast, is characterized in that, the method comprises the following steps:
A, study workpiece template: the corner of special contraposition special sign, pattern or workpiece on study workpiece,After camera is taken pictures, move by Template Learning, use the customizing messages of the Algorithm Learning image in processing host;
B, camera calibration: motion carries workpiece and carries out special exercise according to algorithm requirement, and camera is pressed algorithmTemplate matches is carried out in requirement, obtains coordinate and the anglec of rotation after images match, through repeatedly motion, and catchesCatch the positional information of template matches, obtain the corresponding data of many group camera positions and motion platform movable information,Obtain camera resolution, the normalization of polyphaser coordinate system, change in coordinate axis direction corresponding informance by calibration algorithm;
C, study normal place: workpiece is placed on a side platform, and equipment mechanism is according to normal operation modeWorkpiece handling, to other platform, is recorded the location of workpiece of two platforms, respectively corresponding normal place;
D, contraposition: camera catches workpiece special sign, and image algorithm calculates the departure of special sign, logicalCross the amount of exercise that contraposition algorithm obtains workpiece and will reach target location, motion control PLC is according to described amount of exerciseDrive motors moves.
4. vision guide alignment method as claimed in claim 3, is characterized in that, described steps d toolBody comprises:
System is carried out repeatedly contraposition, records the data of each contraposition;
The data of record are arranged, obtain workpiece supplied materials position and total momental corresponding data;
Set up described workpiece supplied materials position and total momental database according to the location of workpiece;
When workpiece contraposition, obtain the amount of exercise of each motor according to workpiece supplied materials position enquiring database, after contrapositionTake and once carry out precision confirmation by camera;
Do not inquire the corresponding data of described supplied materials position in database time, system is carried out repeatedly contraposition,And record this group data filling in database; When aligning accuracy can not meet the demands, start repeatedly contraposition,Record repeatedly contraposition data refresh.
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| CN107072047A (en) * | 2017-03-10 | 2017-08-18 | 广州市锲致智能技术有限公司 | A kind of three axle positioners and method based on machine vision |
| CN108748155A (en) * | 2018-06-12 | 2018-11-06 | 苏州乐佰图信息技术有限公司 | The automatic aligning method of more scenes |
| CN108846443A (en) * | 2018-06-22 | 2018-11-20 | 成都新西旺自动化科技有限公司 | A kind of screening of visual-alignment algorithm and parameter optimization method based on large nuber of images |
| CN108985002A (en) * | 2018-06-08 | 2018-12-11 | 成都新西旺自动化科技有限公司 | A kind of alignment compensation method based on the processing of board motion randomicity |
| CN109238135A (en) * | 2018-07-30 | 2019-01-18 | 珠海市运泰利自动化设备有限公司 | A kind of view-based access control model precise positioning expects the method for test box |
| CN111862220A (en) * | 2020-07-31 | 2020-10-30 | 广东利元亨智能装备股份有限公司 | Correction method and device for UVW platform calibration, deviation correction method and alignment system |
| CN112171772A (en) * | 2020-10-28 | 2021-01-05 | 东莞王氏港建机械有限公司 | Accurate alignment control method for alignment table top of punching machine |
| CN113365047A (en) * | 2021-08-10 | 2021-09-07 | 苏州维嘉科技股份有限公司 | Method and device for detecting repeated target-grabbing precision of camera and camera system |
| CN113706611A (en) * | 2021-10-22 | 2021-11-26 | 成都新西旺自动化科技有限公司 | High-precision correction control system and correction method based on visual precision movement mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107072047A (en) * | 2017-03-10 | 2017-08-18 | 广州市锲致智能技术有限公司 | A kind of three axle positioners and method based on machine vision |
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| CN108846443B (en) * | 2018-06-22 | 2020-04-03 | 成都新西旺自动化科技有限公司 | Visual alignment algorithm screening and parameter optimization method based on massive images |
| CN108846443A (en) * | 2018-06-22 | 2018-11-20 | 成都新西旺自动化科技有限公司 | A kind of screening of visual-alignment algorithm and parameter optimization method based on large nuber of images |
| CN109238135A (en) * | 2018-07-30 | 2019-01-18 | 珠海市运泰利自动化设备有限公司 | A kind of view-based access control model precise positioning expects the method for test box |
| CN109238135B (en) * | 2018-07-30 | 2020-08-18 | 珠海市运泰利自动化设备有限公司 | Method for accurately positioning incoming material to test box based on vision |
| CN111862220A (en) * | 2020-07-31 | 2020-10-30 | 广东利元亨智能装备股份有限公司 | Correction method and device for UVW platform calibration, deviation correction method and alignment system |
| CN112171772A (en) * | 2020-10-28 | 2021-01-05 | 东莞王氏港建机械有限公司 | Accurate alignment control method for alignment table top of punching machine |
| CN113365047A (en) * | 2021-08-10 | 2021-09-07 | 苏州维嘉科技股份有限公司 | Method and device for detecting repeated target-grabbing precision of camera and camera system |
| CN113365047B (en) * | 2021-08-10 | 2021-11-02 | 苏州维嘉科技股份有限公司 | Method and device for detecting repeated target-grabbing precision of camera and camera system |
| CN113706611A (en) * | 2021-10-22 | 2021-11-26 | 成都新西旺自动化科技有限公司 | High-precision correction control system and correction method based on visual precision movement mechanism |
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