CN106530357A - Vision alignment control device and calibration method - Google Patents
Vision alignment control device and calibration method Download PDFInfo
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- CN106530357A CN106530357A CN201611092703.7A CN201611092703A CN106530357A CN 106530357 A CN106530357 A CN 106530357A CN 201611092703 A CN201611092703 A CN 201611092703A CN 106530357 A CN106530357 A CN 106530357A
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Abstract
The invention discloses a vision alignment control device. The vision alignment control device includes four cameras arranged towards an alignment platform, including a working camera which works during alignment calibration, a standard sample is fixed on the alignment platform, a plurality of position identification points are arranged on the standard sample, the working camera captures the position identification points in the field of view, a vision controller is used for controlling the working camera to record coordinates of the position identification points in an X-Y coordinate plane in a motion process, and a calculation module is used for calculating calibrated parameters according to the position coordinates of the position identification points. The invention also discloses a vision alignment calibration method. The vision alignment control device and calibration method provided by the invention improve flexibility of alignment calibration aiming at different types of products, and simplify and accelerate calibration of the camera.
Description
Technical field
The present invention relates to PCB technical fields, more particularly to a kind of visual-alignment control device and calibration steps.
Background technology
Paste solder printing with fit in industry, it is often necessary to repeat to align to high accuracy, in particular with recent years, mobile phone
Market it is burning hot, in glass printing is fitted with Mobile phone film, it is proposed that higher precision and efficiency requirements.Traditional pin, folder
Tool positioning has been extremely difficult to technological requirement.
People are gradually transferred to sight on machine vision automatic aligning, begin to use two CCD shootings that angle is fixed
Machine is moved between two location recognition points on product, and such a set of equipment can only be directed to certain types of product, no
Can extensively apply in polytype product.
Additionally, one is being moved to bit platform to bit platform and vision system communication connection when demarcating in prior art
Behind individual position, video camera needs to receive after carrying out the stop signal that artoregistration platform sends just can be carried out to the coordinate of position identification point
Record.
The content of the invention
Present invention is primarily targeted at providing a kind of visual-alignment control device and calibration steps, it is intended to improve vision
Demarcation of the versatility and acceleration of alignment control device and calibration steps to video camera.
For achieving the above object, a kind of visual-alignment control device that the present invention is provided, the visual-alignment control device
Including four video cameras, vision controller, to bit platform, standard sample and computing module, wherein wrapping in four video cameras
Include the work camera that works in contraposition calibration, the standard sample is fixed on described on bit platform, the standard sample
On be provided with multiple location recognition points, the work camera is arranged to bit platform and captures institute within the vision towards described
Rheme puts identification point, and the vision controller records the location recognition point in X-Y seats for controlling the work camera
Coordinate in mark plane in motion process, the computing module are electrically connected for according to diverse location with the work camera
The position coordinates of the location recognition point calculate the transformational relation of the coordinate system of four video cameras and contraposition platform coordinate system and
The centre coordinate of four video cameras.
Preferably, the visual-alignment control device also includes setup module and mobile module, wherein：
The setup module, it is quantitative in the movement of X-Y coordinate plane for arranging standard sample；
The mobile module, for the standard sample be fixed on it is described to bit platform on after, by the standard sample
The location recognition point of upper setting is moved to the work camera within sweep of the eye.
Preferably, it is described to include translation module and rotary module to bit platform, wherein：
The translation module, for driving the standard sample to do quantitative translational motion in X-Y coordinate plane；
The rotary module, for driving the standard sample to do quantitative rotary motion in X-Y coordinate plane.
Preferably, the translation module includes X-direction moving cell and Y-direction moving cell, wherein：
The X-direction moving cell, is carried out with fixed displacement for the X-axis positive direction and negative direction in X-Y coordinate plane
Translation；
The Y-direction moving cell, is carried out with fixed displacement for the Y-axis positive direction and negative direction in X-Y coordinate plane
Translation.
Preferably, the vision controller includes detection module, judge module and logging modle, wherein：
The detection module, periodically detects that for controlling the work camera position of the location recognition point is sat
Mark；
The judge module, for judging whether the location recognition point reaches specified location；
The logging modle, for the position of the location recognition point is recorded after the location recognition point reaches specified location
Put coordinate.
Additionally, for achieving the above object, the present invention also provides a kind of visual-alignment calibration steps, the visual-alignment calibration
Method comprises the steps：
Four video cameras directions are arranged to bit platform, wherein, the video camera worked during contraposition calibration is work camera；
Standard sample be fixed on it is described to multiple location recognition points on bit platform, are provided with the standard sample, it is described
Work camera captures location recognition point within the vision；
Described that bit platform is moved in X-Y coordinate plane, it is described that vision controller controls the work camera record
Coordinate of the location recognition point in motion process, the position coordinates of the location recognition point by calculating diverse location, draws
The centre coordinate of the transformational relation and four video cameras of the coordinate system and contraposition platform coordinate system of four video cameras.
Preferably, the standard sample is fixed on described to, on bit platform, multiple positions being provided with the standard sample
Identification point, the work camera captures location recognition point within the vision to be included：
It is quantitative in the movement of X-Y coordinate plane that standard sample is set；
The standard sample be fixed on it is described to after on bit platform, by the multiple location recognitions arranged on the standard sample
Point is moved to the image center location of the work camera；
The work camera captures location recognition point within the vision.
It is preferably, described that to bit platform, in X-Y coordinate plane, movement step includes：
It is described to do quantitative translational motion to bit platform in X-Y coordinate plane；
It is described to do quantitative rotary motion to bit platform in X-Y coordinate plane.
Preferably, it is described quantitative translation is done in X-Y coordinate plane to bit platform to include described successively to bit platform
Following path is moved on an x-y plane：
Positive X-direction translates a fixed displacement；
Negative X-direction translates a fixed displacement；
Positive Y-direction translates a fixed displacement；
Negative Y-direction translates a fixed displacement；9 position coordinateses are obtained.
Preferably, the vision controller control work camera records the location recognition point in motion process
Coordinate include：
Vision controller controls the position coordinates that the work camera periodically detects the location recognition point；
Vision controller judges whether the location recognition point reaches specified location；
The position coordinates that specified location records the location recognition point is reached in the location recognition point.
The present invention can flexibly select work to take the photograph for product by four video cameras towards arranging to bit platform direction
The quantity and angle of camera, so as to preferably capture the coordinate with record position identification point, improves the logical of video camera contraposition calibration
With property and the degree of accuracy.Additionally, the present invention by video camera and vision controller coordinate the position coordinates of test position identification point come
Judge the motion conditions to bit platform, do not rely on being communicated to bit platform and captured the location recognition point, Neng Goujian
Change and accelerate the demarcation to video camera.
Description of the drawings
Fig. 1 is the structural representation of visual-alignment control device first embodiment of the present invention；
Fig. 2 is the high-level schematic functional block diagram of visual-alignment control device second embodiment of the present invention；
Fig. 3 is the refinement high-level schematic functional block diagram in visual-alignment control device 3rd embodiment of the present invention to bit platform；
Fig. 4 is that the refinement functional module of vision controller in visual-alignment control device fourth embodiment of the present invention is illustrated
Figure；
Fig. 5 is the schematic flow sheet of visual-alignment calibration steps first embodiment of the present invention；
Fig. 6 is the refinement schematic flow sheet of step S20 in visual-alignment calibration steps second embodiment of the present invention；
Fig. 7 be visual-alignment calibration steps 3rd embodiment of the present invention in step is moved in X-Y coordinate plane to bit platform
Rapid refinement schematic flow sheet；
Fig. 8 records the location recognition point step for work camera in visual-alignment calibration steps fourth embodiment of the present invention
Rapid refinement flow example figure.
The realization of the object of the invention, functional characteristics and advantage will be described further in conjunction with the embodiments referring to the drawings.
Specific embodiment
It should be appreciated that specific embodiment described herein is not intended to limit the present invention only to explain the present invention.
The present invention provides a kind of visual-alignment control device.
Fig. 1 is refer to, in the first embodiment, the visual-alignment control device 100 that the present invention is provided includes：Four shootings
Machine 10, vision controller 50, to bit platform 20, standard sample 30 and computing module 40, wherein in four video cameras 10 wrap
Include the work camera 11 that works in contraposition calibration, the standard sample 30 is fixed on described on bit platform 20, the mark
Multiple location recognition points 31 are provided with quasi- sample 30, the work camera 11 is arranged and captured to bit platform 20 towards described
The location recognition point 31 within the vision, the vision controller 50 record institute for controlling the work camera 11
Rheme puts coordinate of the identification point 31 in motion process in X-Y coordinate plane, the computing module 40 and the work camera
11 electrically connect for according to the position coordinates of the location recognition point 31 of diverse location calculate to 20 coordinate system of bit platform with
The centre coordinate of the transformational relation of the coordinate system of four video cameras 10 and four video cameras 10.
Towards arranging to bit platform 20, different cameras 10 have different towards angle to four video cameras 10, are more convenient for
Crawl position identification point 31.A number of video camera 10 is chosen from four video cameras 10 for conduct according to the characteristics of product
The work camera 11 worked in contraposition calibration.
Standard sample 30 is placed on the table top to bit platform 20, multiple positions on the standard sample 30, are provided with
Identification point 31, the work camera 11 capture corresponding location recognition point 31 within sweep of the eye.
It is described that X-Y coordinate plane inherently can be in bit platform 20, it is also possible to flat in X-Y coordinate after rotation
On face.Bit platform 20 is being moved after X-Y coordinate plane on an x-y plane, the vision controller 50 controls the work
Make video camera 11 and the location recognition point 31 is recorded during the location recognition point 31 of the standard sample 30 is captured in fortune
Coordinate value during dynamic, specifically, by setting multiple motor segments, per it is intersegmental every dwell time captured.
It is by the position coordinates of the location recognition point 31 of diverse location, described to 20 coordinate of bit platform so as to calculate
System and the transformational relation and the centre coordinate of four video cameras 10 of four 10 coordinate systems of the video camera.
During product aligning afterwards, comprise the steps：Determine the reference position to bit platform 20；Product
Jing production lines enter described to bit platform 20；Four video cameras 10 shoot the position of the location recognition point 31, described to regard
Feel that controller records corresponding position coordinates；Product space is modified so that the product is fallen into relative to the benchmark
In the error range that position allows.Wherein, makeover process includes the amendment of the amendment and translation of the anglec of rotation, and the two can enter simultaneously
Row also individually can be carried out.
In the present embodiment, the visual-alignment control device 100 arranges numerous video cameras 10 around to bit platform 20,
The quantity and angle that product flexibly selects work camera 11 can be directed to, so as to preferably capture and record position identification point
31 coordinate, improves versatility and the degree of accuracy of the contraposition calibration of video camera 10.
Further, the video camera 10 be arranged at it is described to bit platform 20 above or below.As long as being able to ensure that institute
State work camera 11 and can grab and be fixed on the location recognition point 31 to the standard sample 30 on bit platform 20 i.e.
Can.4 video cameras 10 all can be used according to demand, or optional two uses, wherein, combination of two has 6 kinds of modes
It is available, improve the flexibility of reply different product.
Further, Fig. 2 is refer to, based on visual-alignment control device first embodiment of the present invention, in vision of the present invention
In alignment control device second embodiment, above-mentioned visual-alignment control device 100 also includes setup module 60 and mobile module 70,
Wherein：
The setup module 60, it is quantitative in the movement of X-Y coordinate plane for arranging standard sample 30；
The movement that setting one is adapted to the record of the work camera 11 is quantitative, exceeds will not the location recognition point 31
The field range of the work camera 11, is easy to the work camera 11 to record the coordinate of the location recognition point 31.
The mobile module 70, for the standard sample 30 be fixed on it is described to bit platform 20 on after, by the mark
The multiple location recognition points 31 arranged on quasi- sample 30 are moved to the work camera 11 within sweep of the eye.
Before detecting to the standard sample 30, the location recognition point 31 of the standard sample 30 is moved to into institute
State work camera 11 within sweep of the eye, the position is the start bit of visual-alignment control device described in the present embodiment 100
Put.
In the present embodiment, quantitatively it is configured by the movement to the standard sample 30, and will before contraposition calibration
The location recognition point 31 is arranged on the work camera 11 within sweep of the eye, ensure that the institute in contraposition calibration process
Rheme puts field range of the identification point 31 not over the work camera 11, it is to avoid crawl occur less than position certain described
The problem of identification point 31.
Further, with reference to Fig. 3, based on visual-alignment control device first embodiment of the present invention, in vision pair of the present invention
It is in level control device 3rd embodiment, described above to include translation module 21 and rotary module 23 to bit platform 20, wherein：
The translation module 21, for driving the standard sample 30 to do quantitative translational motion in X-Y coordinate plane；
The translation module 21 drives the standard sample that quantitative translational motion is done in X-Y coordinate plane, including along X
The angled straight line of quantitative translation and X-axis in axial quantitative translation, Y direction quantitatively translation or angle change
Curve quantitatively translation etc..
The rotary module 23, for driving the standard sample 30 to do quantitative rotary motion in X-Y coordinate plane.
The rotary module 23 drives the standard sample 30 that quantitative rotary motion is done in X-Y coordinate plane, including
Origin along X-Y coordinate plane with the quantitative angle of suitable/rotate in an anti-clockwise direction, or any point of X-Y coordinate plane with
The quantitative angle of suitable/rotate in an anti-clockwise direction.Specifically, it is described that θ ° is rotated clockwise from reference position to bit platform 20
The position coordinates of the location recognition point 31 is recorded afterwards；It is described that θ ° is rotated counterclockwise from reference position to bit platform 20
The position coordinates of the location recognition point 31 is recorded afterwards；It is described to bit platform 20 centered on the location recognition point 31 up time
The position coordinates of the location recognition point 31 is recorded after rotating θ ° in clock direction；It is described to bit platform 20 with the location recognition point
Centered on 31, counterclockwise records the position coordinates of the location recognition point 31 after rotating θ °.
In the present embodiment, by by the standard sample 30 by quantitative translation and rotation are done in X-Y coordinate plane
Motion, is easy to the location recognition point of the work camera 11 pairs 31 to record.
Further, the work camera 11 records the same location recognition point 31 and rotates in X-Y coordinate plane
During diverse location coordinate quantity be at least three.
The quantity of the 31 diverse location coordinate of same position identification point captured in rotary course is more, for by position
The centre coordinate of four work cameras 11 that the coordinate of the change of identification point 31 is calculated is more accurate.
In the present embodiment, it is ensured that the same position identification point 31 that the work camera 11 is captured in the rotary course
Diverse location coordinate quantity more than three, improve afterwards calculate four work cameras 11 centre coordinate
Accuracy.
Further, translation module described above 21 includes：X-direction moving cell and Y-direction moving cell, wherein：
The X-direction moving cell, is carried out with fixed displacement for the X-axis positive direction and negative direction in X-Y coordinate plane
Translation；
The Y-direction moving cell, is carried out with fixed displacement for the Y-axis positive direction and negative direction in X-Y coordinate plane
Translation.
The two makes described to translate the negative Y-direction of fixed displacement by positive X-direction on an x-y plane to bit platform 20 jointly
The negative X-direction of one fixed displacement of translation translates the positive Y-direction of a fixed displacement one fixed displacement of negative X-direction translation and puts down
The positive X-direction translation of one fixed displacement of the positive Y-direction translation of one fixed displacement of shifting, one fixed displacement of positive X-direction translation
Move 8 times in the path of one fixed displacement.
In the present embodiment, by specific description has been carried out to the translational motion, and around the center of X-Y coordinate plane
Move so that the work camera 11 is easier the coordinate of crawl position identification point 31, be easy to calculate the work and take the photograph
11 coordinate system of camera and the transformational relation to 20 coordinate system of bit platform.
Further, with reference to Fig. 4, based on visual-alignment control device above-described embodiment of the present invention, in vision pair of the present invention
In level control device fourth embodiment, the vision controller 50 includes detection module 51, judge module 52 and logging modle 53,
Wherein：
The detection module 51, periodically detects the location recognition point 31 for controlling the work camera 11
Position coordinates；
It is described to obtain that the detection module 51 just carries out one-time detection to the location recognition point 31 every Preset Time
The coordinate of location recognition point 31, specifically, the Preset Time is 500ms.
The judge module 52, for judging whether the location recognition point 31 reaches specified location；
Specifically, including for judging that current position coordinates detected by the work camera 11 are sat with prior location
Mark whether within the first presetted pixel, first presetted pixel be 10 pixels, the difference of even two neighboring position coordinates
More than 10 pixels, then it is considered that described drive the location recognition point 31 to move to bit platform 20；It is additionally operable to judge default
Whether the position coordinates detected by work camera 11 described in number of times is within the second presetted pixel, described default secondary
Number is 3 times, second presetted pixel is 3 pixels, i.e. the difference between the position coordinates of continuous three times acquisitions is less than 3 pictures
Element, then it is assumed that described to drive the location recognition point 31 to reach specified location to bit platform 20.
The logging modle 14, records the location recognition point 31 for reaching specified location in the location recognition point
Position coordinates.
The location recognition point is recorded after the judge module 13 confirms that the location recognition point 31 is moved into place then
31 the position position coordinates.
In the present embodiment, coordinated to the location recognition point 31 by the video camera 10 and the vision controller 50
State is judged, determines the position coordinates for capturing the location recognition point 31, bit platform 20 need not be led to described
Believer in a certain religion and save the time of PERCOM peripheral communication, simplified and speeded up the demarcation to video camera.
The present invention also provides a kind of visual-alignment calibration steps.
With reference to Fig. 5, in the first embodiment, the visual-alignment calibration steps comprises the steps：
Step S10, four video cameras directions are arranged to bit platform direction, wherein, the video camera worked during contraposition calibration is
Work camera；
Towards arranging to bit platform, different cameras have different towards angle, are more convenient for capturing position for four video cameras
Put identification point.A number of video camera is chosen according to the characteristics of product from four video cameras for as when contraposition is calibrated
The work camera of work.
Step S20, standard sample are fixed on described to multiple positions knowledges on bit platform, are provided with the standard sample
Other, the work camera captures location recognition point within the vision；
Standard sample is placed on the table top to bit platform, multiple location recognitions on the standard sample, are provided with
Point, the work camera capture corresponding location recognition point within sweep of the eye.
Step S30, described that bit platform is moved in X-Y coordinate plane, vision controller controls the work camera
Coordinate of the location recognition point in motion process is recorded, by the change for calculating location recognition point, four video cameras is drawn
Coordinate system with contraposition platform coordinate system transformational relation and four video cameras centre coordinate.
It is described that X-Y coordinate plane inherently can be in bit platform, it is also possible to X-Y coordinate plane is in after rotation
On.Bit platform is being moved after X-Y coordinate plane on an x-y plane, the vision controller controls the work shooting
Machine records coordinate of the location recognition point in motion process during the location recognition point of the standard sample is captured
Value, specifically, by setting multiple motor segments, per it is intersegmental every dwell time captured.
By the position coordinates of the location recognition point of diverse location, so as to calculate the contraposition platform coordinate system with
The centre coordinate of the transformational relation of four camera coordinate systems and four video cameras.
During product aligning afterwards, comprise the steps：Determine the reference position to bit platform；Product Jing
Production line enters described to bit platform；Four video cameras shoot the position of the location recognition point, the vision controller
Record corresponding position coordinates；Product space is modified so that the product is fallen into relative to reference position permission
Error range in.Wherein, makeover process includes the amendment of the amendment and translation of the anglec of rotation, and the two can be carried out simultaneously also can be single
Solely carry out.
In the present embodiment, the visual-alignment calibration steps arranges numerous video cameras around to bit platform, can be with pin
The quantity and angle for selecting work camera flexible to product, so as to preferably capture the coordinate with record position identification point,
Improve versatility and the degree of accuracy of video camera contraposition calibration.
Further, the video camera be arranged at it is described to bit platform above or below.As long as being able to ensure that the work
Make video camera and can grab to be fixed on the location recognition point to the standard sample on bit platform.Take the photograph described in 4
Camera all can be used according to demand, or optional two uses, wherein, combination of two has 6 kinds of modes available, improves
The flexibility of reply different product.
Further, Fig. 6 is referred to, based on the visual-alignment calibration steps of first embodiment of the invention, is regarded in the present invention
In feeling contraposition calibration steps second embodiment, step S20 includes：
Step S21, arranges standard sample quantitative in the movement of X-Y coordinate plane；
The movement that setting one is adapted to the work camera record is quantitative, will not make the location recognition point beyond described
The field range of work camera, is easy to the work camera to record the coordinate of the location recognition point.
Step S22, the standard sample be fixed on it is described to after on bit platform, it is multiple by what is arranged on the standard sample
Location recognition point is moved to the work camera within sweep of the eye；
Before detecting to the standard sample, the location recognition point of the standard sample is moved to into the work
Within sweep of the eye, the position is the original position of visual-alignment calibration steps described in the present embodiment to video camera.
Step S23, the work camera capture location recognition point within the vision.
In the present embodiment, quantitatively it is configured by the movement to the standard sample, and by institute before contraposition calibration
Rheme is put identification point and is arranged on the work camera within sweep of the eye, ensure that the position described in contraposition calibration process
Field range of the identification point not over the work camera, it is to avoid crawl occur and ask less than location recognition point certain described
Topic.
Further, Fig. 7 is referred to, based on the visual-alignment calibration steps of first embodiment of the invention, is regarded in the present invention
In feeling contraposition calibration steps 3rd embodiment, described to bit platform, in X-Y coordinate plane, movement step includes：
Step S31, it is described to do quantitative translational motion to bit platform in X-Y coordinate plane；
It is described to drive the standard sample that quantitative translational motion is done in X-Y coordinate plane bit platform, including along X-axis
The song of the angled straight line of quantitative translation and X-axis in the quantitative translation in direction, Y direction quantitatively translation or angle change
Line quantitatively translation etc..
Step S32, it is described to do quantitative rotary motion to bit platform in X-Y coordinate plane.
It is described to drive the standard sample that quantitative rotary motion is done in X-Y coordinate plane bit platform, including along X-Y
The origin of coordinate plane is with the quantitative angle of suitable/rotate in an anti-clockwise direction, or any point of X-Y coordinate plane is with suitable/inverse
Clockwise rotates quantitative angle.Specifically, it is described that θ ° of postscript is rotated clockwise from reference position to bit platform 20
The position coordinates of the location recognition point 31 under record；It is described that θ ° of postscript is rotated counterclockwise from reference position to bit platform 20
The position coordinates of the location recognition point 31 under record；It is described to bit platform 20 centered on the location recognition point 31 clockwise side
The position coordinates of the location recognition point 31 is recorded to after rotating θ °；It is described to bit platform 20 with the location recognition point 31 to be
Center counterclockwise records the position coordinates of the location recognition point 31 after rotating θ °.
In the present embodiment, by the standard sample is transported by quantitative translation and rotation are done in X-Y coordinate plane
It is dynamic, it is easy to the work camera to record the location recognition point.
Further, the work camera records coordinate step of the location recognition point in motion process and includes：
Coordinate of the location recognition point in rotary course in X-Y coordinate plane is recorded, wherein, the same location recognition point is not
Three are at least with the coordinate quantity of position.
The quantity of the diverse location coordinate of the same position identification point captured in rotary course is more, for by position
The centre coordinate of four work cameras that the coordinate of identification point change is calculated is more accurate.
In the present embodiment, it is ensured that the same position identification point that the work camera is captured in the rotary course is not
With the coordinate quantity of position more than three, improve in the accurate of the centre coordinate for calculating four work cameras afterwards
Property.
Further, it is described quantitative translation is done in X-Y coordinate plane to bit platform to include：It is described to bit platform in X-
The negative X-direction of a fixed displacement is translated by the negative Y-direction of positive X-direction one fixed displacement of translation on Y plane and translates one admittedly
Positioning is moved the positive Y-direction of one fixed displacement of negative X-direction translation, one fixed displacement of positive Y-direction translation and translates a fixation
The positive X-direction of displacement translates the path of fixed displacement one fixed displacement of positive X-direction translation and moves 8 times, obtains 9 positions
Put coordinate.
In the present embodiment, by specific description has been carried out to the translational motion, and around the center of X-Y coordinate plane
Move so that the work camera is easier the coordinate of crawl position identification point, is easy to calculate the work camera
Coordinate system and the transformational relation for aligning platform coordinate system.
Further, with reference to Fig. 8, based on the visual-alignment calibration steps of the above embodiment of the present invention, in vision of the present invention
In contraposition calibration steps fourth embodiment, the work camera in step 30 records the location recognition point in motion process
In coordinate include：
Step S33, the vision controller control the work camera and periodically detect the location recognition point
Position coordinates；
Just carry out one-time detection to the location recognition point to obtain the seat of the location recognition point 31 every Preset Time
Mark, specifically, the Preset Time is 500ms.
Step S34, the vision controller judge whether the location recognition point reaches specified location；
Specifically, including for judging current position coordinates detected by the work camera and prior location coordinate
Whether within the first presetted pixel, first presetted pixel is 10 pixels, and the difference of even two neighboring position coordinates is big
In 10 pixels, then it is considered that described drive the location recognition point to move bit platform；In being additionally operable to judge preset times
The position coordinates detected by the work camera whether within the second presetted pixel, the preset times be 3 times,
Second presetted pixel is 3 pixels, i.e. the difference between the position coordinates of continuous three times acquisitions is less than 3 pixels, then it is assumed that
It is described to drive the location recognition point to reach specified location bit platform.
Step S35, reaches the position coordinates that specified location records the location recognition point in the location recognition point.
The preset times are 3 times, second presetted pixel is 3 pixels, i.e., in the position coordinates of continuous three times acquisitions
Between difference be less than 3 pixels, then it is assumed that it is described to drive the location recognition point to move into place bit platform.
In the present embodiment, the state to the location recognition point is coordinated to enter by the video camera and the vision controller
Row judges to determine the position coordinates for capturing the location recognition point, without the need for being communicated to bit platform so as to save with described
The time of PERCOM peripheral communication, simplify and speed up the demarcation of video camera.
The preferred embodiments of the present invention are these are only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of visual-alignment control device, it is characterised in that the visual-alignment control device includes four video cameras, visions
Controller, to bit platform, standard sample and computing module, wherein working when contraposition calibration is included in four video cameras
Work camera, the standard sample are fixed on described to, on bit platform, multiple location recognitions being provided with the standard sample
Point, the work camera arrange and capture the location recognition point within the vision towards described to bit platform, described to regard
Feel that controller is used to controlling the work camera to record the location recognition point in motion process in X-Y coordinate plane
Coordinate, the computing module electrically connect the position for the location recognition point according to diverse location with the work camera
Coordinate calculates the center of the coordinate system of four video cameras and the transformational relation and four video cameras of contraposition platform coordinate system
Coordinate.
2. visual-alignment control device according to claim 1, it is characterised in that the visual-alignment control device is also wrapped
Setup module and mobile module are included, wherein：
The setup module, it is quantitative in the movement of X-Y coordinate plane for arranging standard sample；
The mobile module, for the standard sample be fixed on it is described to bit platform on after, will set on the standard sample
The location recognition point put is moved to the work camera within sweep of the eye.
3. visual-alignment control device according to claim 1, it is characterised in that described that translation module is included to bit platform
And rotary module, wherein：
The translation module, for driving the standard sample to do quantitative translational motion in X-Y coordinate plane；
The rotary module, for driving the standard sample to do quantitative rotary motion in X-Y coordinate plane.
4. visual-alignment control device according to claim 3, it is characterised in that the translation module includes that X-direction is transported
Moving cell and Y-direction moving cell, wherein：
The X-direction moving cell, is translated with fixed displacement for the X-axis positive direction and negative direction in X-Y coordinate plane；
The Y-direction moving cell, is translated with fixed displacement for the Y-axis positive direction and negative direction in X-Y coordinate plane.
5. the visual-alignment control device according to any one of claim 1-4, it is characterised in that the vision controller
Including detection module, judge module and logging modle, wherein：
The detection module, periodically detects the position coordinates of the location recognition point for controlling the work camera；
The judge module, for judging whether the location recognition point reaches specified location；
The logging modle, the position for the location recognition point is recorded after the location recognition point reaches specified location are sat
Mark.
6. a kind of visual-alignment calibration steps, it is characterised in that the visual-alignment calibration steps comprises the steps：
Four video cameras directions are arranged to bit platform, wherein, the video camera worked during contraposition calibration is work camera；
Standard sample is fixed on described to multiple location recognition points, the work on bit platform, are provided with the standard sample
Video camera captures location recognition point within the vision；
Described that bit platform is moved in X-Y coordinate plane, vision controller controls the work camera and records the position
Coordinate of the identification point in motion process, the position coordinates of the location recognition point by calculating diverse location, draws four
The centre coordinate of the transformational relation and four video cameras of the coordinate system and contraposition platform coordinate system of video camera.
7. visual-alignment calibration steps according to claim 6, it is characterised in that the standard sample is fixed on described right
On bit platform, multiple location recognition points on the standard sample, are provided with, the work camera captures position within the vision
Putting identification point includes：
It is quantitative in the movement of X-Y coordinate plane that standard sample is set；
The standard sample is fixed on described to after on bit platform, the multiple location recognition points arranged on the standard sample being moved
Move to the work camera within sweep of the eye；
The work camera captures location recognition point within the vision.
8. visual-alignment calibration steps according to claim 6, it is characterised in that described flat in X-Y coordinate to bit platform
On face, movement step includes：
It is described to do quantitative translational motion to bit platform in X-Y coordinate plane；
It is described to do quantitative rotary motion to bit platform in X-Y coordinate plane.
9. visual-alignment calibration steps according to claim 8, it is characterised in that described flat in X-Y coordinate to bit platform
Quantitative translation is done on face to be included on an x-y plane moving following path to bit platform by described：
Positive X-direction translates a fixed displacement；
Negative X-direction translates a fixed displacement；
Positive Y-direction translates a fixed displacement；
Negative Y-direction translates a fixed displacement；9 position coordinateses are obtained.
10. the visual-alignment calibration steps according to any one of claim 6-9, it is characterised in that the visual spatial attention
The device control work camera records coordinate of the location recognition point in motion process to be included：
Vision controller controls the position coordinates that the work camera periodically detects the location recognition point；
Vision controller judges whether the location recognition point reaches specified location；
The position coordinates that specified location records the location recognition point is reached in the location recognition point.
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