CN107053310B - A kind of molded fiber plate precise positioning method - Google Patents
A kind of molded fiber plate precise positioning method Download PDFInfo
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- CN107053310B CN107053310B CN201710292295.8A CN201710292295A CN107053310B CN 107053310 B CN107053310 B CN 107053310B CN 201710292295 A CN201710292295 A CN 201710292295A CN 107053310 B CN107053310 B CN 107053310B
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- fiberboard
- industrial robot
- fiber plate
- press mold
- coordinate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/01—Means for holding or positioning work
Abstract
The invention discloses a kind of molded fiber plate precise positioning methods, the intersection point that slot projects is molded as A in molded fiber plate surface including structure light laser, B, C, the intersection point of two adjacent and orthogonal molding slots is O, the molded fiber plate determined by OABC is placed in the cutting position for meeting cutting accuracy requirement, it is molded fiber plate to be positioned determined by O'A'B'C', molded fiber plate to be positioned is rotated into θ degree, straight line AB where straight line A'B' where making the molding slot of molded fiber plate to be positioned is molded slot with normal bit is parallel, molded fiber plate to be positioned is finally moved to defined position using Δ X and Δ Y as the adjustment parameter of six-shaft industrial robot.Molded fiber plate is accurately placed on cutting work station by localization method of the invention under the premise of no setting is required any external location feature, and hardware resource of the invention is easy to be set up in easy production scene, operation sequence, positioning accuracy and adjustment time are able to satisfy substandard products control and beat requirement when enterprise produces in enormous quantities.
Description
Technical field
The invention belongs to the technical fields of plate positioning, and in particular to a kind of molded fiber plate precise positioning method.
Background technique
The process of fibrous plate be unable to do without the cutting of plate, and previous plate cutting process all uses traditional positioning side
Formula, i.e., at panel sawing machine both ends, there are two locating pieces respectively, and in cutting process, this two locating pieces lean against respectively from lower part to be leaned on
At the two o'clock of nearly plate rear ends, and using this two o'clock as baseline, plate compact post-processing is shaped.But for having to exterior
It adorns for the plate of effect, often suppresses some decorative patterns on the surface thereof, suppress the decorative pattern of some regular shapes sometimes.By
It is easy that the edge of plate is made to be squeezed and deform in forming process, and has some plates during Belt Conveying
Sliding, sideline and the plate sideline that may cause suppressed decorative pattern in this way are not parallel.And according to existing cutting positioning method,
The locating piece pressure plates edge line of plate positions, longitudinal stripe, the figure irrelevancy being bound to cause on plate cutting line and plate
Row, the plate surface figure being cut into this way have the inclination of certain angle, so that after dalle is assembled, the whole effect of figure
Fruit is undesirable, influences board quality.In addition, the cutting positioning of existing molded fiber plate mainly chooses positioning using manual operation
The method on side, easy by human eye error interference, while between cutting operation, bad environments seriously affect operator's health.
Although the prior art is also attempted using computer vision localization method, position error is larger, is unable to satisfy molded fiber plate enterprise
The requirement of sparetime university's batch production.
Summary of the invention
In view of the deficiencies of the prior art, technical problem to be solved of the invention is to provide a kind of molded fiber
Plate precise positioning method, so as to solve the deficiencies in the prior art.
In order to solve the above-mentioned technical problem, the present invention can be realized by following technical measures: a kind of molded fiber plate essence
Quasi- localization method, including computer vision system and attitude adjustment control system, the computer vision system are set to production
Right above cutting work station in line, the computer vision system include first camera, second camera, third camera and with it is described
The matched three structure light lasers of first camera, second camera, third camera and industry control machine equipment, the pose adjustment control
System includes six-shaft industrial robot and Robert controller, comprising the following steps:
1) structure light laser is A, B, C, two adjacent and phases in the intersection point of the molding slot projection of molded fiber plate surface
Mutually the intersection point of vertical molding slot is O；
2) it sets the molded fiber plate determined by OABC and is placed in the position for meeting cutting accuracy requirement in cutting work station, remember
Coordinate of the vertex O in the coordinate system where six-shaft industrial robot at this time are as follows:A, 3 points of B, C in three cameras
The pixel coordinate of middle shooting is respectively as follows:3 points of A, B, C after camera calibration
Be mapped to six-shaft industrial robot coordinate in a coordinate system are as follows:By A, B two
The determining molding slot linear equation of point is denoted as under coordinate system where six-shaft industrial robot: y=kx+b；
3) be one block of molded fiber plate to be positioned determined by O'A'B'C' according to step 2), if at this time A', B',
3 points of C' be mapped to six-shaft industrial robot coordinate in a coordinate system are as follows: By
Molding slot linear equation determined by A', B' is denoted as under coordinate system where six-shaft industrial robot: y1'=k1'x1'+b1'；O'
C' is vertical with A'B', therefore slope k '2Meet: k1'k'2=-1, O'C' six-shaft industrial robot equation in a coordinate system
It can be determined by the coordinate of C' in this coordinate system, remember this equation are as follows: y'2=k'2x'2+b'2；
4) molded fiber plate to be positioned molding slot where straight line A'B' and normal bit molding slot where straight line AB it
Between angle be θ,
By molded fiber plate to be positioned rotate θ degree, make molded fiber plate to be positioned molding slot where straight line A'B' with
Straight line AB where normal bit is molded slot is parallel；
5) the vertex O " of the molded fiber plate after step 4) rotational positioning and determine molded fiber plate vertex O it
Between coordinate difference indicated with following formula:
Finally molded fiber plate to be positioned is moved to using Δ X and Δ Y as the adjustment parameter of six-shaft industrial robot
Defined position.
As the preferred embodiment of molded fiber plate precise positioning method of the invention, the step 4) is further wrapped
It includes:
Work as kk1' > 0, and k1' > k when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to side clockwise
θ degree is rotated to by molded fiber plate to be positioned.
Work as kk1' > 0, and k1' < k when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to side counterclockwise
θ degree is rotated to by molded fiber plate to be positioned.
When < -1 k, and 0 < k1' < 1 when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to clockwise
Molded fiber plate to be positioned is rotated θ degree by direction.
When < -1 k, and k1' > 1 when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to counterclockwise
Molded fiber plate to be positioned is rotated into θ degree.
When 0 > -1 > k, and 0 < k1' < 1 when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to up time
Molded fiber plate to be positioned is rotated θ degree by needle direction.
When 0 > -1 > k, and k1' > 1 when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to counterclockwise
Molded fiber plate to be positioned is rotated θ degree by direction.
The step 5) further comprises: O " A " B " C " is the position by rotating molded fiber plate adjusted, A ",
B ", C " are the points obtained according to step 2), and coordinate is respectively as follows: It can similarly obtain
Corresponding linear equation y1"=k1″x1″+b1" with y "2=k "2x″2+b″2, O " point is under coordinate system where six-shaft industrial robot
Coordinate value beBy solving equation y1" with y "2The equation group of composition determines.
Optionally, in molded fiber plate precise positioning method of the invention further include sucker for drawing molded fiber plate
Mechanism.
By upper, the rotation and movement of the molded fiber plate in the present invention are carried out using sucking disc mechanism, and the absorption of sucker is made
It makes good use of, generates subtle displacement during the rotation and movement that prevent fiberboard and influence positioning accuracy of the invention.
Implement molded fiber plate precise positioning method of the invention technical solution have the following beneficial effects: it is of the invention
Molded fiber plate precise positioning method is fine to molding by machine systems such as computer vision system and attitude adjustment control systems
Dimension plate is positioned, and excluding the individual difference being positioned manually in method and psychological application influences, machine localization method of the invention
It is positioned according to specific rule and positioning criterion, reduces uncertain factor, and positioning criterion can be according to actual needs
Appropriate adjustment is carried out, the molded fiber plate of a variety of different sizes is adapted to.Also, any external positioning is special no setting is required by the present invention
Molded fiber plate is accurately placed on cutting work station under the premise of sign, positioning accuracy is high.Hardware according to the present invention
Resource, which is easy to be set up in production scene, operation sequence simplicity, positioning accuracy and adjustment time, can satisfy enterprise's mass production
When substandard products control with beat requirement.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, below in conjunction with preferred embodiment, and cooperates attached drawing, detailed description are as follows.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System.
Fig. 1 is structure light laser projective module pressure fibreboard surface schematic diagram of the invention.
Fig. 2 is the position fixing process schematic diagram one of molded fiber plate precise positioning method of the invention.
Fig. 3 is the position fixing process schematic diagram two of molded fiber plate precise positioning method of the invention.
Specific embodiment
The embodiment of the invention will now be described in detail with reference to the accompanying drawings, and as part of this specification passes through
Embodiment illustrates the principle of the present invention, and other aspects of the present invention, feature and its advantage will become by the detailed description
It is very clear.In the attached drawing of institute's reference, the same or similar component is indicated using identical drawing reference numeral in different figures.
To keep the present invention easier to understand, specific embodiments of the present invention are further illustrated below.
As shown in Figure 1-3, molded fiber plate precise positioning method of the invention, including computer vision system, posture tune
Whole control system and sucking disc mechanism for drawing molded fiber plate, the computer vision system are set to cutting in production line
It cuts right above station at 300mm (on the basis of camera lens bottom), the computer vision system includes first camera, the
Two cameras, third camera and with the first camera, second camera, the matched three structure light lasers of third camera and industry control
The position of machine equipment, above-mentioned camera installation keeps its focal plane parallel with cutting work station upper surface, the focal plane position of three cameras
At a distance of 300mm within same plane and with cutting work station upper surface, connect the straight line of first camera and second camera optical center with
It connects first camera and the straight line of third camera optical center is in the same plane and orthogonal；Structure light laser is mounted on therewith
Below matched camera at 50mm, and the laser projection direction for keeping structure light laser and cutting work station upper surface are in 45 ° of folders
Angle, the laser linewidth of structure light laser projection will meet requirement of enterprise's mass production to substandard products control rate；The industry control
Machine equipment is placed in control operation room, uses industry existing with equipment such as camera, the attitude adjustment control systems of production scene
Field bus mode carries out data communication.Attitude adjustment control system is arranged by cutting work station, the attitude adjustment control system
Including six-shaft industrial robot and Robert controller, six-shaft industrial robot is mounted on by cutting work station, and guarantees six axis
Effective radius of turn of industrial robot is greater than the distance between six-shaft industrial robot and cutting work station, six-shaft industrial robot
The distance being movable in a vertical direction, which can be enough to ensure that, is steadily placed into cutting work station upper surface for the molded fiber plate of absorption, and six
The minimum step value of shaft industrial robot internal control motor should meet requirement of the manufacturing enterprise to positioning accuracy.The robot
Control equipment be mounted near the six-shaft industrial robot of production scene, between industrial personal computer using industrial field bus mode into
Row data communication, and according to industrial personal computer to the spatial position of the processing result control robot adjustment molded fiber plate of location data
Coordinate, molded fiber plate precise positioning method of the invention the following steps are included:
1) structure light laser is A, B, C, two adjacent and phases in the intersection point of the molding slot projection of molded fiber plate surface
Mutually the intersection point of vertical molding slot is O；
2) it sets the molded fiber plate determined by OABC and is placed in the position for being suitble to cutting in cutting work station, remember vertex at this time
Coordinate of the O in the coordinate system where six-shaft industrial robot are as follows:A, it 3 points of B, C is shot in three cameras
Pixel coordinate is respectively as follows:Since the position of three cameras in the scene is fixed not
Become, and the distance installed between them is known definite value, is mapped to six-shaft industrial for 3 points of A, B, C after camera calibration
Robot coordinate in a coordinate system are as follows:A, B two o'clock is in six-shaft industrial machine
Equation under coordinate system where people can be uniquely determined by its coordinate, be denoted as: y=kx+b；
3) be one block of molded fiber plate to be positioned determined by O'A'B'C' according to step 2), if at this time A', B',
3 points of C' be mapped to six-shaft industrial robot coordinate in a coordinate system are as follows: By
Straight line where A', B' six-shaft industrial robot equation in a coordinate system can be true by its coordinate in this coordinate system
It is fixed, remember the equation are as follows: y1'=k1'x1'+b1', the straight line where C' is vertical with straight line A'B', the slope k of the straight line '2Meet:
k1'k'2=-1, thus the straight line six-shaft industrial robot equation in a coordinate system can be by the seat of C' in this coordinate system
Mark determines, remembers this equation are as follows: y'2=k'2x'2+b'2；
4) molded fiber plate to be positioned molding slot where straight line A'B' and normal bit molding slot where straight line AB it
Between angle be θ,
By molded fiber plate to be positioned rotate θ degree, make molded fiber plate to be positioned molding slot where straight line A'B' with
Straight line AB where normal bit is molded slot is parallel, and since the range of angle is limited between 0 ° to 90 °, specific rotation is adjusted
Method is divided into following several situations:
Work as kk1' > 0, and k1' > k when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to side clockwise
θ degree is rotated to by molded fiber plate to be positioned.
Work as kk1' > 0, and k1' < k when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to side counterclockwise
θ degree is rotated to by molded fiber plate to be positioned.
When < -1 k, and 0 < k1' < 1 when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to clockwise
Molded fiber plate to be positioned is rotated θ degree by direction.
When < -1 k, and k1' > 1 when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to counterclockwise
Molded fiber plate to be positioned is rotated into θ degree.
When 0 > -1 > k, and 0 < k1' < 1 when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to up time
Molded fiber plate to be positioned is rotated θ degree by needle direction.
When 0 > -1 > k, and k1' > 1 when, at this time six-shaft industrial robot with θ value be rotation regulated quantity, according to counterclockwise
Molded fiber plate to be positioned is rotated θ degree by direction.
It is as shown in Figure 3 by rotating molded fiber Board position adjusted.
5) O " A " B " C " is the position by rotating molded fiber plate adjusted, and A ", B ", C " is obtained according to step 2)
Point, coordinate is respectively as follows:Corresponding linear equation y can similarly be obtained1"=
k1”x1”+b1" and y "2=k "2x″2+b″2, coordinate value of the O " under coordinate system where six-shaft industrial robot be
It can be by solving equation y1" and y "2The equation group of composition determines.The top of molded fiber plate after step 4) rotational positioning
Coordinate difference between point O " and the vertex O of the molded fiber plate determined is indicated with following formula:
Finally by translation adjustment using Δ X and Δ Y as the adjustment parameter of six-shaft industrial robot by molding to be positioned
Fiberboard is moved to defined position.
Implement molded fiber plate precise positioning method of the invention technical solution have the following beneficial effects: it is of the invention
Molded fiber plate precise positioning method is fine to molding by machine systems such as computer vision system and attitude adjustment control systems
Dimension plate is positioned, and excluding the individual difference being positioned manually in method and psychological application influences, machine localization method of the invention
It is positioned according to specific rule and positioning criterion, reduces uncertain factor, and positioning criterion can be according to actual needs
Appropriate adjustment is carried out, the molded fiber plate of a variety of different sizes is adapted to.Also, any external positioning is special no setting is required by the present invention
Molded fiber plate is accurately placed on cutting work station under the premise of sign, positioning accuracy is high.Hardware according to the present invention
Resource, which is easy to be set up in production scene, operation sequence simplicity, positioning accuracy and adjustment time, can satisfy enterprise's mass production
When substandard products control with beat requirement, the present invention in molded fiber plate rotation and movement carried out using sucking disc mechanism, suction
The suction-operated of disk is good, generates subtle displacement during the rotation and movement that prevent fiberboard and influences positioning accurate of the invention
Degree.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than protects to the present invention
The limitation of range is protected, although the invention is described in detail with reference to the preferred embodiments, those skilled in the art should
Understand, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the essence of technical solution of the present invention
And range.
Claims (8)
1. a kind of membrane pressure fiberboard precise positioning method, which is characterized in that controlled including computer vision system and pose adjustment
System, the computer vision system are set to right above the cutting work station in production line, and the computer vision system includes
First camera, second camera, third camera and with the first camera, second camera, matched three structure lights of third camera
Laser and industry control machine equipment, the attitude adjustment control system include six-shaft industrial robot and Robert controller, packet
Include following steps:
1) structure light laser is A, B, C in the intersection point that the film-pressing tank of press mold fibreboard surface projects, and two adjacent and mutually vertical
The intersection point of straight film-pressing tank is O；
2) it sets the press mold fiberboard determined by OABC and is placed in the position for being suitble to cutting in cutting work station, vertex O's note exists at this time
The coordinate in coordinate system where six-shaft industrial robot are as follows:A, 3 points of pixels shot in three cameras of B, C
Coordinate is respectively as follows:Six axis works are mapped to for 3 points of A, B, C after camera calibration
Industry robot coordinate in a coordinate system are as follows: A, B two o'clock is in six-shaft industrial machine
Equation under coordinate system where device people can be uniquely determined by its coordinate, be denoted as: y=kx+b；
3) be press mold fiberboard to be positioned determined by O'A'B'C' according to step 2), if at this time 3 points of A', B', C' reflect
Be mapped to six-shaft industrial robot coordinate in a coordinate system are as follows:By A', B'
The straight line at place six-shaft industrial robot equation in a coordinate system can be determined by its coordinate in this coordinate system, remember
Are as follows: y'1=k'1x'1+b'1, the straight line where C' is vertical with straight line A'B', the slope k of the straight line where C' '2Meet: k'1k'2
Straight line where=- 1, C' six-shaft industrial robot equation in a coordinate system can be true by the coordinate of C' in this coordinate system
It is fixed, it is denoted as: y'2=k'2x'2+b'2；
4) between the straight line AB where the straight line A'B' and normal bit film-pressing tank where the film-pressing tank of press mold fiberboard to be positioned
Angle is θ,
Press mold fiberboard to be positioned is rotated into θ degree, makes straight line A'B' and standard where the film-pressing tank of press mold fiberboard to be positioned
Straight line AB where the film-pressing tank of position is parallel；
5) between the vertex O " of the press mold fiberboard after step 4) rotational positioning and the vertex O of the press mold fiberboard determined
Coordinate difference is indicated with following formula:
Press mold fiberboard to be positioned is finally moved to regulation using Δ X and Δ Y as the adjustment parameter of six-shaft industrial robot
Position；
The step 5) further comprises: O " A " B " C " is the position by rotating press mold fiberboard adjusted, A ", B ",
C " is the point obtained according to step 2), and coordinate is respectively as follows:It can similarly obtain
Corresponding linear equation y "1=k "1x”1+b”1With y "2=k "2x”2+b”2, O " point is under coordinate system where six-shaft industrial robot
Coordinate value beBy solving equation y "1With y "2The equation group of composition determines.
2. membrane pressure fiberboard precise positioning method according to claim 1, which is characterized in that the step 4) is further
Include:
Work as kk'1> 0, and k'1When > k, six-shaft industrial robot is rotation regulated quantity with θ value at this time, will according to clockwise direction
Press mold fiberboard to be positioned rotates θ degree.
3. membrane pressure fiberboard precise positioning method according to claim 1, which is characterized in that the step 4) is further
Include:
Work as kk'1> 0, and k'1When < k, six-shaft industrial robot is rotation regulated quantity with θ value at this time, will according to counter clockwise direction
Press mold fiberboard to be positioned rotates θ degree.
4. membrane pressure fiberboard precise positioning method according to claim 1, which is characterized in that the step 4) is further
Include:
When < -1 k, and 0 < k'1When < 1, six-shaft industrial robot is rotation regulated quantity with θ value at this time, will according to clockwise direction
Press mold fiberboard to be positioned rotates θ degree.
5. membrane pressure fiberboard precise positioning method according to claim 1, which is characterized in that the step 4) is further
Include:
When < -1 k, and k'1When > 1, six-shaft industrial robot is rotation regulated quantity with θ value at this time, according to counterclockwise will be to
It positions press mold fiberboard and rotates θ degree.
6. membrane pressure fiberboard precise positioning method according to claim 1, which is characterized in that the step 4) is further
Include:
When 0 > -1 > k, and 0 < k'1When < 1, six-shaft industrial robot is rotation regulated quantity with θ value at this time, according to side clockwise
θ degree is rotated to by press mold fiberboard to be positioned.
7. membrane pressure fiberboard precise positioning method according to claim 1, which is characterized in that the step 4) is further
Include:
When 0 > -1 > k, and k'1When > 1, six-shaft industrial robot is rotation regulated quantity with θ value at this time, will according to counter clockwise direction
Press mold fiberboard to be positioned rotates θ degree.
8. membrane pressure fiberboard precise positioning method according to claim 1, which is characterized in that further include for drawing press mold
The sucking disc mechanism of fiberboard.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102557420A (en) * | 2010-12-22 | 2012-07-11 | 洛阳北方玻璃技术股份有限公司 | Photoelectric positioning device and method for glass cutting machine |
| CN104959989A (en) * | 2015-07-01 | 2015-10-07 | 江南大学 | Elevator door plank feeding positioning method guided through vision |
| CN105965519A (en) * | 2016-06-22 | 2016-09-28 | 江南大学 | Vision-guided discharging positioning method of clutch |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3332666B2 (en) * | 1995-06-09 | 2002-10-07 | キヤノン株式会社 | Article storage box position detection method and article storage box gripping device |
| JP2013173196A (en) * | 2012-02-24 | 2013-09-05 | Hitachi Zosen Fukui Corp | Position correcting method of robot handling arm |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102557420A (en) * | 2010-12-22 | 2012-07-11 | 洛阳北方玻璃技术股份有限公司 | Photoelectric positioning device and method for glass cutting machine |
| CN104959989A (en) * | 2015-07-01 | 2015-10-07 | 江南大学 | Elevator door plank feeding positioning method guided through vision |
| CN105965519A (en) * | 2016-06-22 | 2016-09-28 | 江南大学 | Vision-guided discharging positioning method of clutch |
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Application publication date: 20170818 Assignee: China Energy First Construction (Hubei) Engineering Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2023420000061 Denomination of invention: A Precise Positioning Method for Molded Fiberboard Granted publication date: 20190322 License type: Common License Record date: 20230419 |
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