CN105607651B - A kind of quick vision guide alignment system and method - Google Patents
A kind of quick vision guide alignment system and method Download PDFInfo
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Abstract
The invention discloses a kind of quick vision guide alignment system and methods.The system includes display, processing host, motion control PLC, motion and industrial camera, the motion is made of servo controller and three-axis platform, and Template Learning module, template matches module, camera calibration module, contraposition module and database are equipped in the processing host；The processing host is connected respectively with display, motion control PLC, industrial camera and servo controller, and the servo controller is connected with each other with three-axis platform, and the motion control PLC circuit connects servo controller.This method comprises the following steps：A, workpiece template, b, camera calibration, c, study normal place, d, contraposition are learnt.In the present invention, the time that consuming once aligns can realize the precision repeatedly aligned, by establishing the automatic compensation of database realizing system deviation, greatly improve aligning accuracy and speed.
Description
Technical field
Technique of counterpoint field more particularly to a kind of quick vision guide contraposition the present invention relates to industrial automation equipment
System and method.
Background technology
In industrial automation equipment, many scenes complete contraposition, positioning function using vision guide.In practical application, it is
Reach high-precision, it is necessary to which camera carries out repeatedly shooting, motion repeatedly moves, general camera is often shot once, mechanism is pressed
Once, each motion ratio is previous to be moved closer to dreamboat position the image motion that camera obtains；One contraposition circulating cycle
The time of phase is made of four parts, including before image processing algorithm time, camera shooting the time of mechanism stable, camera being waited to clap
Take the photograph time, mechanism kinematic time.In order to improve aligning accuracy, generally repeatedly cycled, the more position aligning times of cycle-index are more
It is long, cause the time that repeatedly movement is spent long, for this problem, in order to improve to bit rate generally use two schemes：
Scheme one：The producer for reduce contraposition number, even having, which realizes, once to be aligned.It reduces contraposition number and although improves speed, still
Final precision is also reduced to a certain extent；Scheme two：The elapsed time of each link is reduced, as far as possible before reduction shooting etc.
It treats the time of mechanism stable, improves mechanism kinematic speed, promotes image processing speed etc.；It can although the time of these links is reduced
To improve speed to a certain degree, but the limitation that speed is promoted, final speed are special by systems such as the rigidity of motion
The limitation of property.
The content of the invention
The present invention provides a kind of quick vision guide alignment system and method, the time that consuming once aligns can be realized
The precision repeatedly aligned, by establishing the automatic compensation of database realizing system deviation, greatly improve aligning accuracy and
Speed.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of quick vision guide alignment system, which is characterized in that the system includes display, processing host, movement
Control PLC, motion and industrial camera, the motion are made of servo controller and three-axis platform, the processing master
Template Learning module, template matches module, camera calibration module, contraposition module and database are equipped in machine；The processing host
It is connected respectively with display, motion control PLC, industrial camera and servo controller by circuit, the servo controller and three
Shaft platform is connected with each other, and the motion control PLC circuit connects servo controller；
Wherein, the Template Learning module is used to learn the special sign information on workpiece；The template matches module is used
In determining the location of workpiece and rotation angle according to special sign information；The camera calibration module is used to pass through multiple template
Match somebody with somebody, obtain multigroup camera position and motion movable information, camera resolution, polyphaser coordinate system are obtained by calibration algorithm
System normalization, change in coordinate axis direction corresponding informance；The contraposition module is used to obtain workpiece target location correspondence according to contraposition algorithm
Motion platform amount of exercise, and aligned using motion control PLC driving motors；The database is used to store workpiece position
It puts and represents position deviation and the tables of data of amount of exercise with the value at the position.
The three-axis platform is equipped with to place the specific position of workpiece.
A kind of quick vision guide alignment method, which is characterized in that this method comprises the following steps：
A, workpiece template is learnt：The corner of special contraposition special sign, pattern or workpiece on study workpiece, camera shooting
It after special sign, is acted by Template Learning, handles the specific information of the Algorithm Learning pattern in host；
B, camera calibration：Motion carries workpiece and carries out special exercise according to algorithm requirement, and camera algorithmically requires to catch
Special sign is caught, obtains special sign coordinate and rotation angle, by multiple motion-captured special sign position, obtains multigroup phase
The corresponding data with motion platform movable information is put in seat in the plane, and camera resolution, polyphaser coordinate system are obtained by calibration algorithm
Normalization, change in coordinate axis direction corresponding informance；
C, normal place is learnt：Workpiece is placed on the platform of one side, equipment mechanism is according to normal operation mode by workpiece
Other platform is transported to, the location of workpiece of two platforms is recorded, corresponds to normal place respectively；
D, align：Cameras capture workpiece special sign, image algorithm calculate the departure of special sign, are calculated by aligning
Method, which obtains workpiece, will reach the amount of exercise of target location, and motion control PLC is moved according to the amount of exercise driving motor.
The step d is specifically included：
System is repeatedly aligned, and records the data aligned every time；
The data of record are arranged, obtain the corresponding data that workpiece comes discharge position and total amount of exercise；
The workpiece is established come discharge position and the database of total amount of exercise according to the location of workpiece；
When workpiece aligns, the amount of exercise of each motor is obtained according to workpiece supplied materials position enquiring database, passes through phase after contraposition
Machine shooting once carries out precision confirmation；
Do not inquire in the database it is described come discharge position corresponding data when, system is repeatedly aligned, and is recorded
This group of data are added in database；When aligning accuracy cannot be met the requirements, start repeatedly contraposition, record repeatedly contraposition data,
And 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 invention and method expend one it is not necessary to modify hardware configuration
The time of secondary contraposition can realize the precision repeatedly aligned, and the system has self-healing property, can realize automatic compensation equipment longtime running
Caused deviation, self-healing sexual function are the methods that dynamic bias compensation is carried out based on look-up table；The present invention is also by establishing data
Storehouse is improved in the case where ensureing precision to bit rate, and running part increases deviation newly, can also be completed by automatic optimization of data storehouse
Contraposition, the present invention are suitable for a variety of alignment systems, and a workpiece is applicable in using the scene of one camera, polyphaser.
Description of the drawings
Fig. 1 is a kind of structure diagram of quick vision guide alignment system provided in an embodiment of the present invention；
Fig. 2 is a kind of workflow schematic diagram of quick vision guide alignment method provided in an embodiment of the present invention；
Fig. 3 is the contraposition deviation database in a kind of quick vision guide alignment method provided in an embodiment of the present invention
Coordinate schematic diagram.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, the technical solution in the present invention is clearly and completely described, is shown
So, described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, those of ordinary skill in the art's all other embodiments obtained without making creative work, all
Belong to the scope of protection of the invention.
As Figure 1-Figure 2, it is a kind of quick vision guide alignment system and method for proposition of the embodiment of the present invention, it should
System includes display, processing host, motion control PLC, motion and industrial camera, motion by servo controller and
Three-axis platform form, handle host in be equipped with Template Learning module, template matches module, camera calibration module, contraposition module and
Database；Processing host is connected by circuit with display, motion control PLC, industrial camera and servo controller respectively, servo
Controller is connected with each other with three-axis platform, motion control PLC circuit connection servo controller；
Wherein, Template Learning module is used to learn the special sign information on workpiece；Template matches module is used for according to spy
Determine flag information and determine the location of workpiece and rotation angle；Camera calibration module is used to, by repeatedly capturing special sign position, obtain
Multigroup camera position and motion movable information are taken, camera resolution is obtained by calibration algorithm, polyphaser coordinate system is returned
One changes, change in coordinate axis direction corresponding informance；Contraposition module is used for flat according to the corresponding movement of contraposition algorithm acquisition workpiece target location
The amount of exercise of platform, and aligned using motion control PLC driving motors；Database is used to store at the location of workpiece and the position
Value represent the tables of data of position deviation and amount of exercise.
Further, three-axis platform is equipped with to place the locating slot of workpiece.
Motion is regular integrated platform UVW, XY θ, XY+ θ, X θ+Y or the mechanism of X+Y θ or other forms；Nothing
By the mechanism of what form, as long as the adjustment of X, Y, θ dimension can be realized to workpiece, the system purpose can be realized.
A kind of quick vision guide alignment method, which is characterized in that this method comprises the following steps：
A, workpiece template is learnt：The corner of special contraposition special sign, pattern or workpiece on study workpiece, camera shooting
Afterwards, acted by Template Learning, handle the specific information of the Algorithm Learning pattern in host；Such as：Gray scale is specific, contour feature
Deng.Afterwards, after camera has taken the special sign of other workpiece, image algorithm can recognize special sign, and energy quickly
Enough positions for quickly calculating special sign and the angle information of rotation.
B, camera calibration：Motion carry workpiece according to algorithm requirement carry out special exercise, camera algorithmically require into
Row template matches obtain coordinate and rotation angle after template matches, by multiple motion-captured special sign position, obtain more
The corresponding data of group camera position and motion platform movable information, camera resolution, polyphaser coordinate are obtained by calibration algorithm
System normalization, change in coordinate axis direction corresponding informance；
C, normal place is learnt：Workpiece is placed on the platform of one side, equipment mechanism is according to normal operation mode by workpiece
Other platform is transported to, the location of workpiece of two platforms is recorded, corresponds to normal place respectively；
D, align：After completing above-mentioned a, b, step c, system enters normal work, cameras capture workpiece special sign, image
Algorithm calculates the departure of special sign, and the amount of exercise of target location will be reached by obtaining workpiece by aligning algorithm, movement control
PLC processed is moved according to amount of exercise driving motor.
Further, step d aligns process and specifically includes following steps：
1st, system is repeatedly aligned, and records the data aligned every time；Specifically, equipment is repeatedly aligned first, note
Record the related data aligned every time：Workpiece current location (u, v), contraposition needs departure (the Δ x moved every time1/Δy1/Δ
θ1、Δx2/Δy2/Δθ2......Δxn/Δyn/Δθn), the aligning accuracy Δ x/ Δ y/ Δs θ of last time；
2nd, the data of record are arranged, obtains the corresponding data that workpiece comes discharge position and total amount of exercise；It is specifically, sharp
The location of workpiece (u, v) and corresponding movement warp amount Δ x/ Δ y/ Δs θ are recorded with list.Wherein Δ x=Δs x1+Δx2+......
+Δxn, Δ y=Δs y1+Δy2+......+Δyn, Δ θ=Δ θ1+Δθ2+......+Δθn.Due to completing the deviation of position
Compensation, finally needs to each quantity for issuing motion impulse, so workpiece departure and corresponding various needs can also be recorded
The number of pulses of movement, that is,：Δx_plus/Δy_plus/Δθ_plus.Wherein, Δ x_plus=Δs x1_pulse+Δ
x2_pulse+......+Δxn_ pulse, Δ y_plus=Δs y1_pulse+Δy2_pulse+......+Δyn_pulse、Δ
θ _ plus=Δs θ1_pulse+Δθ2_pulse+......+Δθn_pulse。
3rd, workpiece is established come discharge position and the database (as shown in Figure 3) of total amount of exercise according to the location of workpiece；It specifically, will
The data of step 2 are arranged according to the location of workpiece, obtain the tables of data in units of each pixel.Each location of pixels represents
The position of workpiece, value represents position deviation and needs the amount moved at the position.Certainly, the unit of transverse and longitudinal coordinate can be according to essence
Degree requirement is flexibly set, such as：1/2 pixel, 1/4 pixel, 2 times of pixels, 4 times of pixels etc..
4th, when workpiece aligns, the amount of exercise of each motor is obtained according to workpiece supplied materials position enquiring database, is passed through after contraposition
Camera shooting once carries out precision confirmation；Specifically, in equipment operation, when workpiece carrys out discharge position for some pixel value (u, v), angle
Spend for θ when, can at once according to (u, v, θ) inquire about database obtain the right amount of exercise of each motor.When establishing the database, this
Amount of exercise can meet the required precision of this offset, so once moving.
Given threshold is wanted when inquiring about database, when the difference of some position in the location of workpiece and database is less than threshold value,
The value at the position can be used.
When the 5th, not inquiring the corresponding data for carrying out discharge position in the database, system is repeatedly aligned, and is recorded and be somebody's turn to do
Group data are added in database；When aligning accuracy cannot be met the requirements, start repeatedly contraposition, record repeatedly contraposition data, and
Refresh.
Compared with prior art, the embodiment of the present invention has the following advantages：
By the technical solution of the embodiment of the present invention, it is not necessary to modify hardware for vision guide alignment system of the invention and method
Configuration, the time that consuming once aligns can realize the precision repeatedly aligned, and the system has self-healing property, can realize that automatic compensation is set
Deviation caused by standby longtime running, self-healing sexual function are the methods that dynamic bias compensation is carried out based on look-up table；The present invention is also logical
It crosses and establishes database, improved in the case where ensureing precision to bit rate, running part increases deviation newly, can also pass through Automatic Optimal
Database completes contraposition, and the present invention is suitable for a variety of alignment systems, and a workpiece is suitable using the scene of one camera, polyphaser
With.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (4)
1. a kind of quick vision guide alignment system, which is characterized in that the system includes display, processing host, movement control
PLC processed, motion and industrial camera, the motion are made of servo controller and three-axis platform, the processing host
In be equipped with Template Learning module, template matches module, camera calibration module, contraposition module and database；The processing host leads to
Oversampling circuit is connected respectively with display, motion control PLC, industrial camera and servo controller, the servo controller and three axis
Platform is connected with each other, and the motion control PLC circuit connects servo controller；
Wherein, the Template Learning module, which is used to learning specific information on workpiece or other, the information of symbolic characteristic；Institute
State template matches module for according to template matches to information determine the location of workpiece and rotation angle；The camera calibration module
For obtaining position and angle information by multiple template matches, multigroup camera position and motion movable information are obtained, is led to
It crosses calibration algorithm and obtains camera resolution, the normalization of polyphaser coordinate system, change in coordinate axis direction corresponding informance；The contraposition module
For obtaining the amount of exercise of the corresponding motion platform of workpiece target location according to contraposition algorithm, and driven using motion control PLC
Motion is aligned；The database is used to store the location of workpiece and the value expression position deviation and amount of exercise at the position
Tables of data.
2. vision guide alignment system as described in claim 1, which is characterized in that the three-axis platform is equipped with to place
The specific position of workpiece.
3. a kind of quick vision guide alignment method, which is characterized in that this method comprises the following steps：
A, workpiece template is learnt：The corner of special contraposition special sign, pattern or workpiece on study workpiece, after camera is taken pictures,
It is acted by Template Learning, with the specific information 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 algorithmically requires to carry out mould
Plate matches, and obtains coordinate and rotation angle after images match, by repeatedly moving, and captures the location information of template matches,
The corresponding data of multigroup camera position and motion platform movable information is obtained, camera resolution, multiphase are obtained by calibration algorithm
The normalization of machine coordinate system, change in coordinate axis direction corresponding informance；
C, normal place is learnt：Workpiece is placed on the platform of one side, equipment mechanism is according to normal operation mode by workpiece handling
To other platform, the location of workpiece of two platforms is recorded, corresponds to normal place respectively；
D, align：Cameras capture workpiece special sign, image algorithm calculate the departure of special sign, are obtained by aligning algorithm
To reach the amount of exercise of target location to workpiece, motion control PLC is moved according to the amount of exercise driving motor；
Wherein, step d aligns process and specifically includes following steps：
1) system is repeatedly aligned, and records the data aligned every time；Specifically, equipment is repeatedly aligned first, record is every
The related data of secondary contraposition：Workpiece current location (u, v), contraposition needs departure (the Δ x moved every time1/Δy1/Δθ1、Δ
x2/Δy2/Δθ2......Δxn/Δyn/Δθn), the aligning accuracy Δ x/ Δ y/ Δs θ of last time；
2) data of record are arranged, obtains the corresponding data that workpiece comes discharge position and total amount of exercise；Specifically, utilize table
The location of workpiece (u, v) and corresponding movement warp amount Δ x/ Δ y/ Δs θ under unirecord；Wherein Δ x=Δs x1+Δx2+......+Δ
xn, Δ y=Δs y1+Δy2+......+Δyn, Δ θ=Δ θ1+Δθ2+......+Δθn；Since the deviation for completing position is mended
It repays, finally needs to each quantity for issuing motion impulse, so workpiece departure can also be recorded and corresponding various need to transport
Dynamic number of pulses, that is,：Δx_plus/Δy_plus/Δθ_plus；Wherein, Δ x_plus=Δs x1_pulse+Δx2_
pulse+......+Δxn_ pulse, Δ y_plus=Δs y1_pulse+Δy2_pulse+......+Δyn_pulse、Δθ_
Plus=Δs θ1_pulse+Δθ2_pulse+......+Δθn_pulse；
3) workpiece is established come discharge position and the database of total amount of exercise according to the location of workpiece；
4) when workpiece aligns, the amount of exercise of each motor is obtained according to workpiece supplied materials position enquiring database, passes through camera after contraposition
Shooting once carries out precision confirmation；Specifically, in equipment operation, when workpiece comes that discharge position is some pixel value (u, v), angle is
During θ, can database be inquired about according to (u, v, θ) at once and obtain the right amount of exercise of each motor；When establishing the database, this movement
Amount can meet the required precision of this offset, so once moving；
Given threshold is wanted when inquiring about database, when the difference of some position in the location of workpiece and database is less than threshold value, you can
Use the value at the position；
5) when not inquiring the corresponding data for carrying out discharge position in the database, system is repeatedly aligned, and records this group of number
According to adding in database；When aligning accuracy cannot be met the requirements, start repeatedly contraposition, record repeatedly contraposition data, and refreshing
Database.
4. vision guide alignment method as claimed in claim 3, which is characterized in that the step d is specifically included：
System is repeatedly aligned, and records the data aligned every time；
The data of record are arranged, obtain the corresponding data that workpiece comes discharge position and total amount of exercise；
The workpiece is established come discharge position and the database of total amount of exercise according to the location of workpiece；
When workpiece aligns, the amount of exercise of each motor is obtained according to workpiece supplied materials position enquiring database, is clapped after contraposition by camera
It takes the photograph and once carries out precision confirmation；
Do not inquire in the database it is described come discharge position corresponding data when, system is repeatedly aligned, and records the group
Data are added in database；When aligning accuracy cannot be met the requirements, start repeatedly contraposition, record repeatedly contraposition data, and brushing
New database.
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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 |
| CN108985002B (en) * | 2018-06-08 | 2020-05-15 | 成都新西旺自动化科技有限公司 | Alignment compensation method based on machine motion randomness processing |
| CN108748155B (en) * | 2018-06-12 | 2019-09-13 | 苏州乐佰图信息技术有限公司 | The automatic aligning method of more scenes |
| 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 |
| 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 |
| CN111862220B (en) * | 2020-07-31 | 2022-10-11 | 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 |
| 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 |
| CN113706611B (en) * | 2021-10-22 | 2022-04-12 | 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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| CN1695411A (en) * | 2002-09-03 | 2005-11-09 | Pcb普拉斯株式会社 | Apparatus and method for replacement of defective parts of pcb panel |
| CN101179925A (en) * | 2006-11-10 | 2008-05-14 | Juki株式会社 | Surface mounting device |
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| CN103645743B (en) * | 2013-12-11 | 2016-06-22 | 京东方科技集团股份有限公司 | Visual-alignment controls system and method |
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| CN1695411A (en) * | 2002-09-03 | 2005-11-09 | Pcb普拉斯株式会社 | Apparatus and method for replacement of defective parts of pcb panel |
| CN101179925A (en) * | 2006-11-10 | 2008-05-14 | Juki株式会社 | Surface mounting device |
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