CN108748155B - The automatic aligning method of more scenes - Google Patents
The automatic aligning method of more scenes Download PDFInfo
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- CN108748155B CN108748155B CN201810598094.5A CN201810598094A CN108748155B CN 108748155 B CN108748155 B CN 108748155B CN 201810598094 A CN201810598094 A CN 201810598094A CN 108748155 B CN108748155 B CN 108748155B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
A kind of automatic aligning method of more scenes provided by the invention, provide the solution of the automatic aligning under more scene elements, whether fixed according to location of workpiece state, the required precision that whether carrier position state fixes and workpiece is placed, determine quantity and the position of imaging device, and the method for using Machine Vision Recognition sets up the image coordinate system of physical points and the corresponding relationship of space physics coordinate system with the Data correction information to manipulator displacement of drawing up.The scheme collection of several scenes together in one, is balanced the relationship of actual production line side manipulator operation precision and efficiency by this method.Customized wait of more scenes and template of the invention is designed, and when so that implementing project, only needs foundation engineering teacher to substantially reduce the time by step operation, has saved cost.With this method and this system, the implementation cycle of at least last month even close half a year originally can be foreshortened to week even day.
Description
Technical field
The present invention relates to fields of automation technology, and in particular to a kind of alignment method of manipulator can be preset a variety of
Operative scenario simultaneously implements the precision that corresponding automatic aligning method is capable of effective lifting workpieces immigration carrier according to different scenes.
Background technique
Manipulator contraposition is to draw workpiece by manipulator, is then put in workpiece frame, and workpiece and workpiece frame (are placed
The carrier of workpiece) assembling process.The alignment method of the combination of manipulator and machine vision recognition system is known.The application
The purpose of middle machine vision is to provide the information of operation object to mechanical hand.The visualization of testee is obtained using imaging device
Image simultaneously seizes the characteristic feature that specifically can be realized corresponding relationship, will realize that the characteristic feature of corresponding relationship is converted to
The data information that can be calculated by computer.Identification of the machine to specific object and the image letter according to object are realized according to data information
Breath data are calculated by algorithm draws up data information and corrects the offset deviation of object in three-dimensional space by computer.
The combination of Machine Vision Recognition and manipulator enables manipulator to identify object, carries out camera calibration and makes object
The coordinate system of body space three-dimensional and the establishment of coordinate system of visual identity play corresponding relationship, and the running track for controlling manipulator is realized
Automatically shifting object is taken.Current manipulator contraposition is that assessment implementation is carried out for single assembly line mostly with vision products,
Movement under i.e. single scene executes can not flexible it is even more impossible to provide accurate and efficient manipulator contraposition under more scenes.?
Scape, definition are that Workpiece transfer is entered operating environment corresponding to process in carrier by manipulator.Influencing manipulator automatic aligning has
Whether the placement position state of three important scene elements, i.e. workpiece fixes, and whether the state of carrier placement position fixes, with
And (required precision, that is, workpiece send position and position location deviation to carrier to the required precision within Workpiece transfer to carrier
Range, high-precision current indicia be usually can change according to industrial practice in 0.01mm to 0.09mm range).Specifically
It says, under actual factory application scene, on production line there are two types of the states of the location of workpiece: one is the location of workpiece to produce
On normal place point on line, another kind is that the location of workpiece is random in the production line.Manipulator is along setting road under former state
Diameter mechanically actuated, and latter just needs manipulator to carry out the identification of object and be moved to the location of workpiece.After obvious
A kind of technical difficulty is bigger, not only wants the position that can identify but also to be steadily accurately moved to identification object.Similarly, carrier
Location status also there are two types of.Furthermore manipulator is bound to be subjected to displacement deviation during from the location of workpiece to carrier position transfer
, the numerous such as hardware design progresses of factor of deviation are influenced, the offset deviation in action executing process is accumulative etc., this just can not
Avoid cause manipulator draw workpiece be sent into carrier when setting position between there are deviations.It is embodied between above-mentioned deviation all
As workpiece can not be put into carrier, or tilting situations such as misaligning in carrier.
Based on this, in the prior art under location status fixed scene, can rule of thumb be adjusted in real time with manual synchronizing,
The application scheme being suitble to can also be designed according to required precision using in the state of visual identifying system.But it still falls on the whole
Enter a kind of scene and correspond to a solution to complete single execution movement in the production line and complicated more scenes can not be coped with
The transformation of element.Once production line scene change, manipulator in entire processing line will be configured again, be debugged, trying life
Produce until resume production, it is clear that meeting delay production and reduce production efficiency.
Summary of the invention
In order to solve the above technical problems, the purpose is to provide the present invention provides a kind of automatic aligning method of more scenes
The method of more scene manipulator automatic alignings, can be according to the location of workpiece state of scene, the location status and workpiece of carrier
The required precision in carrier is put, quantity, position and the robot movement path for corresponding to scene of imaging device is determined, makes
It obtains same set of equipment and copes with the contraposition requirement under several scenes.
A kind of automatic aligning method of more scenes, includes at least:
Objective table is used to place workpiece and places the carrier of workpiece；
Imaging device is used to shoot the image of workpiece and/or carrier to provide by host computer visual identification algorithm
Data information is to obtain the displacement correction data of manipulator；
Manipulator, to clamp workpiece and be transferred to carrier；
Host computer, the execution for presetting the programmable control imaging device of element and manipulator of the scene of performing environment are dynamic
Make, the element of the scene of the environment includes:
The location of workpiece, the location of workpiece are the placement position of the workpiece on the objective table of side；
Carrier position, the carrier position are the placement position of the carrier on the objective table of the other side；
And
The requirement of workpiece placement precision, when the workpiece is moved to carrier position by the location of workpiece, workpiece is placed in carrier
Interior position offset；
And realize that workpiece takes shifting to be moved from side objective table to the carrier of other side objective table through manipulator according to following methods
It send:
Step 1 successively examines workpiece location status, carrier position state and the requirement of workpiece placement precision；
Step 2 determines quantity and the position of imaging device according to step 1；
Step 3, PC control imaging device and manipulator select one according to following logic and execute movement, specifically,
When location of workpiece state is not fixed, and carrier position state is fixed, and the requirement of workpiece placement precision is low, then imaging device
For one and be fixed on manipulator or the top of the location of workpiece, and execute following movement: imaging device shoots the location of workpiece
Manipulator takes shifting workpiece to be transferred in carrier by the location of workpiece after image；
When location of workpiece state is fixed, and carrier position state is fixed, and workpiece placement precision requires height, then imaging device is
One is fixed between the location of workpiece and carrier position, and executes following movement: manipulator, which takes, to be moved workpiece and is moved to imaging dress
Top is set, is transferred in carrier after imaging device shooting location of workpiece image；
When location of workpiece state is fixed, and carrier position state is not fixed, and the requirement of workpiece placement precision is low, then imaging device
For one and be fixed on manipulator, and execute following movement: manipulator takes shifting workpiece to be transferred to carrier position by the location of workpiece
It is transferred in carrier after top imaging device shooting carrier position image；Or imaging device is one and is fixed on carrier position
Top, and execute following movement: manipulator takes to move workpiece and be transferred to imaging device above carrier position by the location of workpiece and shoot
It is transferred in carrier after carrier position image；
When location of workpiece state is not fixed, and carrier position state is not fixed, and the requirement of workpiece placement precision is low, then dress is imaged
Be set to one and be fixed on manipulator, and execute following movement: manipulator takes shifting workpiece to be transferred to carrier position by the location of workpiece
It is transferred in carrier after setting top imaging device shooting carrier position image；Or imaging device is two wherein the first imaging dresses
Set and be fixed on the second imaging device above the location of workpiece and be fixed on manipulator, and execute following movement: the first imaging device is clapped
Manipulator takes shifting workpiece to be transferred to the second imaging device shooting load above carrier position by the location of workpiece after taking the photograph location of workpiece image
It is transferred in carrier after tool location drawing picture；Or imaging device be two wherein the first imaging device be fixed on above carrier position
Second imaging device is fixed on manipulator, and executes following movement: the first imaging device shoot carrier position image second at
After clapping location of workpiece image as device, manipulator takes shifting workpiece to be transferred in carrier by the location of workpiece；Or imaging device is two
A wherein the first imaging device is fixed on the second imaging device above the location of workpiece and is fixed on above carrier, and executes following dynamic
Make: after the first imaging device shoots the second imaging device of location of workpiece image shooting carrier position image, manipulator takes shifting workpiece
It is transferred in carrier by the location of workpiece；
When location of workpiece state is fixed, and carrier position state is not fixed, and workpiece placement precision requires height, then imaging device
For two wherein the first imaging device be fixed on the second imaging device between the location of workpiece and carrier position and be fixed on manipulator,
And execute following movement: manipulator, which takes, to be moved above workpiece to the first imaging device, and the first imaging device shoots location of workpiece image
After be transferred to above carrier position, then the second imaging device carrier position image, is then transferred in carrier；Or imaging dress
Be set to two wherein the first imaging device be fixed on the second imaging device above carrier position and be fixed on the location of workpiece and carrier position
Between setting, and execute following movement: the first imaging device shoots carrier position image, and then manipulator, which takes, moves Workpiece transfer to the
Location of workpiece image is shot above two imaging devices, is then transferred in carrier；
When location of workpiece state is not fixed, and carrier position state is fixed, and workpiece placement precision requires height, then imaging device
For two wherein the first imaging device be fixed on the second imaging device on manipulator and be fixed between the location of workpiece and carrier position,
And execute following movement: the first imaging device shoots location of workpiece image, and manipulator, which takes, moves Workpiece transfer to the second imaging device
Top shoots location of workpiece image, is then transferred in carrier；Or imaging device be two wherein the first imaging device fix
The second imaging device is fixed between the location of workpiece and carrier position above the location of workpiece, and the following movement of execution: the first one-tenth
As device shooting location of workpiece image, manipulator, which takes to move, shoots location of workpiece image above Workpiece transfer to the second imaging device,
Then it is transferred in carrier；
When location of workpiece state is not fixed, and carrier position state is not fixed, and workpiece placement precision requires high then imaging device
For three wherein the first imaging device be fixed on the second imaging position above the location of workpiece be fixed on above carrier position third at
As device is fixed between the location of workpiece and carrier position, and execute following movement: the first imaging device shoots location of workpiece figure
As the second imaging device shooting carrier position image, then manipulator, which takes to move, shoots work above Workpiece transfer to third imaging device
Part location drawing picture, is then transferred in carrier；Or imaging device be three wherein the first imaging device be fixed on the location of workpiece
The second imaging device of top is fixed on third imaging device between the location of workpiece and carrier position and is fixed on manipulator, and executes
Act below: the first imaging device shoots location of workpiece image, and then manipulator, which takes, moves on Workpiece transfer to the second imaging device
Shooting location of workpiece image in side's is then transferred to third imaging device shooting carrier position image above carrier position and then transfers
To carrier；Or imaging device be three wherein the first imaging device be fixed on the second imaging device above carrier position and fix
It is fixed between the location of workpiece and carrier position in third imaging device on manipulator, and executes following movement: the first imaging dress
Set shooting the second imaging device of carrier position image shooting location of workpiece image, then manipulator take move Workpiece transfer to third at
As being transferred in carrier after shooting location of workpiece image above device.
Preferably, the imaging device is CCD industrial camera.CCD is that the more common image of current machine vision passes
Sensor.It integrates photoelectric conversion and charge storage, electric charge transfer, signal-obtaining, is typical solid imaging device.CCD
Outstanding feature be using charge as signal, and be different from its device be using electric current or voltage as signal.This kind of image device
Charge packet is formed by photoelectric conversion, then shifted under the action of driving pulse, amplify output picture signal.Typical CCD
Camera is made of optical lens 0, timing and synchronous generator, vertical driver, analog/digital signal processing circuit.
The alignment operation of workpiece and carrier is completed in the present invention using the method for manipulator combination visual identifying system.It utilizes
CCD shooting subject image is simultaneously converted into digital signal, and the coordinate system and object of image will be established by the method for camera calibration
The corresponding relationship of body space coordinates, and by algorithm draw up correcting value be provided with manipulator motion correction realize it is more accurate
Workpiece is placed.Basic thought is the third place between the location of workpiece, carrier position and the location of workpiece and carrier position,
Measured object (physical points of manipulator), which is established, using machine vision recognition method is presented in image in the regional scope that can be drawn up
The corresponding relationship of interior point variation and the variation put in three-dimensional space, and draw up out and machine is corrected to the feedback regulation method of manipulator
The offset of tool hand.In optimal situation, be respectively the location of workpiece, carrier position and the location of workpiece and carrier position it
Between the third place apply and corrected in the same way.But when required precision is not high, then selected section precision is corrected
?.But as long as location of workpiece state is not fixed, perhaps carrier position state is not fixed i.e. workpiece or the position of carrier is random
When manipulator being needed to carry out the identification of object, it usually needs the movement of corresponding manipulator is corrected.And so-called workpiece places essence
Degree requires height, is that the offset deviation requirement between the physical location and normal place being placed in carrier with workpiece is smaller at one
Within the scope of.And this lesser range is then that generally can be 0.01mm extremely according to set by actual factory's experience
It is referred to as workpiece placement precision within 0.09mm range and requires height.But the requirement to certain higher precisions being also not excluded for, it is seen that
Required precision height be not an absolute value but a relative value.
Alignment operation is realized according to following methods,
Step S1: quantity and the position of industrial camera are determined；
Step S2: the focal length and light source of industrial camera are adjusted；
Step S3: the IP address of setting industrial camera and manipulator；
Step S4: setting host computer procedure controls industrial camera and manipulator foundation logic selects one and executes movement.
Precision of the industrial camera according to following steps adjustment shooting image:
Step H1: camera calibration step；
Step H2: distortion rectification step；
Step H3: template-setup step.
Wherein, industrial camera will demarcate calibrating block to obtain coordinate information, and the calibrating block in step H1
For two dimensional code calibrating block.
Preferably in the step H2 is the plane out-of-flatness put for material and leads to captured pattern distortion
Carry out the step of image procossing is to obtain clear image.
Wherein, the step H3 includes addition matching area step and adds identification point and the test step that Loads Image
Suddenly.
It further, further include that item number management process can be managed different materials, to support more materials, switching
It uses.
Preferably, the precision height in the scene element refers to the standard in position and carrier in Workpiece transfer to carrier
Deviation between location point is in 0.01mm between 0.09mm range.
A kind of automatic aligning method of more scenes provided by the invention, the beneficial effect is that: provide more scene elements
Under automatic aligning solution, whether fix according to location of workpiece state, whether carrier position state fixes and workpiece
The required precision of placement determines quantity and the position of imaging device, and sets up physical points using the method for Machine Vision Recognition
Image coordinate system and frightened coordinate system corresponding relationship with the Data correction information to manipulator displacement of drawing up.This method will be more
The scheme collection of kind scene balances actual production line side to the relationship of manipulator operation precision height and efficiency together in one.The present invention
More scenes and template it is customized it is equal design, when so that implementing project, foundation engineering teacher is only needed to contract significantly by step operation
The short time, cost is saved.With this method and this system, the implementation cycle of at least last month even close half a year originally can be contracted
It is as short as week even day.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.
Attached drawing 1 is a kind of operational flowchart of the automatic aligning method of more scenes in the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
Embodiment 1
After the work for carrying out basis installation, connection, judging that workpiece placement state is uncertain, carrier placement position determines,
Required precision is low, and camera is mounted on above workpiece, and judgement control manipulator is executed following motion cameras and shoots workpiece by host computer
Manipulator takes shifting workpiece to be transferred in carrier by the location of workpiece after location drawing picture.
After camera configuration, need to set underlying parameter.Shooting point coordinate must be recorded.
If pattern distortion influences precision, need to carry out distortion rectification.Plan-position where scaling board does not measure up, i.e. object
Plane where material does not measure up, it is possible to cause to shoot picture distortion, need to carry out distortion rectification.It is raw by detecting grid stain
At calibration point, the row of the point composition recognized must be comprising identical quantity, and the starting position of row is necessary for same row,
If there is unwanted point, then after clicking " deleting point " button, unwanted point, which is framed, to delete it.
After distortion rectification starts, manipulator need to be moved to the position of distortion rectification plate according to prompt.
Being provided with can be calibrated.Click starts to demarcate, and client can issue prompt, operates according to prompt.
Client can continue to send order control movement and figure is taken to calculate in the process, and when needing user to confirm, jump out dialog box and allow
User's confirmation, finally prompt " calibration is completed " i.e. calibration terminate.If manipulator joint can rotate 180 on the basis of shooting point
Degree, can choose corresponding option in figure, keep precision more accurate.
Before starting calibration, two dimensional code scaling board needs fixation to want on manipulator, while guaranteeing that scaling board level is put, and with
The plane that material is put when practical contraposition is in same level.Current calibration board placing height, it is meant that material needs padded
It is placed on the horizontal plane of scaling board.Certain actual conditions are the horizontal planes put according to material, and the scaling board of production is fixed
On a robotic arm and it is adjusted to material in same level.
Item number management can be managed different materials, and to support more materials, switching is used.
It is configured into item number, workpiece template can be selected and be configured, while the parameter of camera can also carried out
Modification and deletion.
To workpiece template configuration, different templates different modes is divided to configure.Common configuration operating procedure first is that: addition Matching band
Domain, step 2 are: addition identification point and the test that Loads Image determine after saving, can carry out identification meter to workpiece later
Calculate deviation.
1) low-angle template
If workpiece angle variation is very small, the location algorithm can be used, which is that setting is simple.
2) any angle template
When the location of workpiece and all very big angle change, then the location algorithm must be used, which is parameter
It is more, understand that difficulty is higher.More materials can be chosen in any angle template configuration of material under the scene, i.e., whether is reality
Put multiple materials.
3) geometry location
It is used to position target in picture by crawl side and circle, advantage is that precision is very high, the disadvantage is that understanding that difficulty is higher.
After template is built up, into next step feeding position calculations of offset.It clicks automatic calculating and is operated according to prompt,
To calculate the relationship of rotation center Yu feeding position.If required precision is high, the distance and phase that guarantee camera and target are also needed
Machine is adjusted if having difference to the identical apart from three of scaling board.Ensure to insert feeding position height, puts controlling level and angle
The data such as degree compensation.
After contraposition calibration, item number management, item number configuration all finish, it can click and bring into operation, control automatically grabs
Material, contraposition are put.In the case where same scene and same material, material frame, each run is clicked directly on out later
Begin to run.
Embodiment 2
After the work for carrying out basis installation, connection, judge that workpiece placement state determines, carrier placement position determines, essence
Degree requires height, and camera is mounted below path, and judgement control manipulator is taken and moves workpiece and be moved to camera top, phase by host computer
It is transferred in carrier after machine shooting location of workpiece image.
After camera configuration, need to set underlying parameter.Shooting point coordinate must be recorded.
If pattern distortion influences precision, need to carry out distortion rectification.Plan-position where scaling board does not measure up, i.e. object
Plane where material does not measure up, it is possible to cause to shoot picture distortion, need to carry out distortion rectification.It is raw by detecting grid stain
At calibration point, the row of the point composition recognized must be comprising identical quantity, and the starting position of row is necessary for same row,
If there is unwanted point, then after clicking " deleting point " button, unwanted point, which is framed, to delete it.
After distortion rectification starts, manipulator need to be moved to the position of distortion rectification plate according to prompt.
Being provided with can be calibrated.Click starts to demarcate, and client can issue prompt, operates according to prompt.
Client can continue to send order control movement and figure is taken to calculate in the process, and when needing user to confirm, jump out dialog box and allow
User's confirmation, finally prompt " calibration is completed " i.e. calibration terminate.If manipulator joint can rotate 180 on the basis of shooting point
Degree, can choose corresponding option in figure, keep precision more accurate.
Before starting calibration, two dimensional code scaling board needs fixation to want on manipulator, while guaranteeing that scaling board level is put, and with
The plane that material is put when practical contraposition is in same level.Current calibration board placing height, it is meant that material needs padded
It is placed on the horizontal plane of scaling board.Certain actual conditions are the horizontal planes put according to material, and the scaling board of production is fixed
On a robotic arm and it is adjusted to material in same level.
Item number management can be managed different materials, and to support more materials, switching is used.
It is configured into item number, workpiece template can be selected and be configured, while the parameter of camera can also carried out
Modification and deletion.
To workpiece template configuration, different templates different modes is divided to configure.Common configuration operating procedure first is that: addition Matching band
Domain, step 2 are: addition identification point and the test that Loads Image determine after saving, can carry out identification meter to workpiece later
Calculate deviation.
After template is built up, into next step feeding position calculations of offset.It clicks automatic calculating and is operated according to prompt,
To calculate the relationship of rotation center Yu feeding position.If required precision is high, the distance and phase that guarantee camera and target are also needed
Machine is adjusted if having difference to the identical apart from three of scaling board.Ensure to insert feeding position height, puts controlling level and angle
The data such as degree compensation.
After contraposition calibration, item number management, item number configuration all finish, it can click and bring into operation, control automatically grabs
Material, contraposition are put.In the case where same scene and same material, material frame, each run is clicked directly on out later
Begin to run.
Embodiment 3
It carries out the basic work installed, connected and judges that workpiece placement state is uncertain later, carrier placement position is not known,
Required precision is low, and first camera is mounted on above workpiece, and second camera is mounted on above carrier, and host computer will judge first camera
After shooting location of workpiece image second camera shooting carrier position image, manipulator takes shifting workpiece to be transferred to carrier by the location of workpiece
It is interior.
After camera configuration, need to set underlying parameter.Shooting point coordinate must be recorded.
If pattern distortion influences precision, need to carry out distortion rectification.Plan-position where scaling board does not measure up, i.e. object
Plane where material does not measure up, it is possible to cause to shoot picture distortion, need to carry out distortion rectification.It is raw by detecting grid stain
At calibration point, the row of the point composition recognized must be comprising identical quantity, and the starting position of row is necessary for same row,
If there is unwanted point, then after clicking " deleting point " button, unwanted point, which is framed, to delete it.
After distortion rectification starts, manipulator need to be moved to the position of distortion rectification plate according to prompt.
Being provided with can be calibrated.Click starts to demarcate, and client can issue prompt, operates according to prompt.
Client can continue to send order control movement and figure is taken to calculate in the process, and when needing user to confirm, jump out dialog box and allow
User's confirmation, finally prompt " calibration is completed " i.e. calibration terminate.If manipulator joint can rotate 180 on the basis of shooting point
Degree, can choose corresponding option in figure, keep precision more accurate.
Before starting calibration, two dimensional code scaling board needs fixation to want on manipulator, while guaranteeing that scaling board level is put, and with
The plane that material is put when practical contraposition is in same level.Current calibration board placing height, it is meant that material needs padded
It is placed on the horizontal plane of scaling board.Certain actual conditions are the horizontal planes put according to material, and the scaling board of production is fixed
On a robotic arm and it is adjusted to material in same level.
Item number management can be managed different materials, and to support more materials, switching is used.
It is configured into item number, workpiece template can be selected and be configured, while the parameter of camera can also carried out
Modification and deletion.
To workpiece template configuration, different templates different modes is divided to configure.Common configuration operating procedure first is that: addition Matching band
Domain, step 2 are: addition identification point and the test that Loads Image determine after saving, can carry out identification meter to workpiece later
Calculate deviation.
1) low-angle template
If workpiece angle variation is very small, the location algorithm can be used, which is that setting is simple.
2) any angle template
When the location of workpiece and all very big angle change, then the location algorithm must be used, which is parameter
It is more, understand that difficulty is higher.More materials can be chosen under A scene in any angle template configuration of material, i.e. whether reality puts
Put multiple materials.
3) geometry location
It is used to position target in picture by crawl side and circle, advantage is that precision is very high, the disadvantage is that understanding that difficulty is higher.
After template is built up, into next step feeding position calculations of offset.It clicks automatic calculating and is operated according to prompt,
To calculate the relationship of rotation center Yu feeding position.If required precision is high, the distance and phase that guarantee camera and target are also needed
Machine is adjusted if having difference to the identical apart from three of scaling board.Ensure to insert feeding position height, puts controlling level and angle
The data such as degree compensation.
After contraposition calibration, item number management, item number configuration all finish, it can click and bring into operation, control automatically grabs
Material, contraposition are put.In the case where same scene and same material, material frame, each run is clicked directly on out later
Begin to run.
Embodiment 4
After the work for carrying out basis installation, connection, judge that workpiece placement state determines, carrier placement state position is not true
Fixed, required precision is high, and first camera is mounted on above carrier, and second camera is mounted between the location of workpiece and carrier position, on
Position machine will judge first camera device shoot carrier position image, then manipulator take shifting Workpiece transfer to second camera device on
Side's shooting location of workpiece image, is then transferred in carrier.
After camera configuration, need to set underlying parameter.Shooting point coordinate must be recorded.
If pattern distortion influences precision, need to carry out distortion rectification.Plan-position where scaling board does not measure up, i.e. object
Plane where material does not measure up, it is possible to cause to shoot picture distortion, need to carry out distortion rectification.It is raw by detecting grid stain
At calibration point, the row of the point composition recognized must be comprising identical quantity, and the starting position of row is necessary for same row,
If there is unwanted point, then after clicking " deleting point " button, unwanted point, which is framed, to delete it.
After distortion rectification starts, manipulator need to be moved to the position of distortion rectification plate according to prompt.
Being provided with can be calibrated.Click starts to demarcate, and client can issue prompt, operates according to prompt.
Client can continue to send order control movement and figure is taken to calculate in the process, and when needing user to confirm, jump out dialog box and allow
User's confirmation, finally prompt " calibration is completed " i.e. calibration terminate.If manipulator joint can rotate 180 on the basis of shooting point
Degree, can choose corresponding option in figure, keep precision more accurate.
Before starting calibration, two dimensional code scaling board needs fixation to want on manipulator, while guaranteeing that scaling board level is put, and with
The plane that material is put when practical contraposition is in same level.Current calibration board placing height, it is meant that material needs padded
It is placed on the horizontal plane of scaling board.Certain actual conditions are the horizontal planes put according to material, and the scaling board of production is fixed
On a robotic arm and it is adjusted to material in same level.
Item number management can be managed different materials, and to support more materials, switching is used.
It is configured into item number, workpiece template and carrier template can be selected and configured, while can also be to camera
Parameter modify and delete.
To template configuration, different templates different modes is divided to configure.Common configuration operating procedure first is that: addition matching area,
Step 2 is: addition identification point and the test that Loads Image determine after saving, and it is inclined that identification calculating can be carried out to workpiece later
Difference.
After template is built up, into next step feeding position calculations of offset.It clicks automatic calculating and is operated according to prompt,
To calculate the relationship of rotation center Yu feeding position.If required precision is high, the distance and phase that guarantee camera and target are also needed
Machine is adjusted if having difference to the identical apart from three of scaling board.Ensure to insert feeding position height, puts controlling level and angle
The data such as degree compensation.
After contraposition calibration, item number management, item number configuration all finish, it can click and bring into operation, control automatically grabs
Material, contraposition are put.In the case where same scene and same material, material frame, each run is clicked directly on out later
Begin to run.
Embodiment 5
After the work for carrying out basis installation, connection, judging that workpiece placement state determines, carrier placement position is uncertain,
Required precision is high, and first camera is mounted on second camera between the location of workpiece and carrier position and is mounted on installation on a robotic arm,
Host computer will judge to be transferred to above carrier position after manipulator takes shifting workpiece to first camera top shooting location of workpiece image,
Then the second imaging device carrier position image, is then transferred in carrier.
After camera configuration, need to set underlying parameter.Shooting point coordinate must be recorded.
If pattern distortion influences precision, need to carry out distortion rectification.Plan-position where scaling board does not measure up, i.e. object
Plane where material does not measure up, it is possible to cause to shoot picture distortion, need to carry out distortion rectification.It is raw by detecting grid stain
At calibration point, the row of the point composition recognized must be comprising identical quantity, and the starting position of row is necessary for same row,
If there is unwanted point, then after clicking " deleting point " button, unwanted point, which is framed, to delete it.
After distortion rectification starts, manipulator need to be moved to the position of distortion rectification plate according to prompt.
Being provided with can be calibrated.Click starts to demarcate, and client can issue prompt, operates according to prompt.
Client can continue to send order control movement and figure is taken to calculate in the process, and when needing user to confirm, jump out dialog box and allow
User's confirmation, finally prompt " calibration is completed " i.e. calibration terminate.If manipulator joint can rotate 180 on the basis of shooting point
Degree, can choose corresponding option in figure, keep precision more accurate.
Before starting calibration, two dimensional code scaling board needs fixation to want on manipulator, while guaranteeing that scaling board level is put, and with
The plane that material is put when practical contraposition is in same level.Current calibration board placing height, it is meant that material needs padded
It is placed on the horizontal plane of scaling board.Certain actual conditions are the horizontal planes put according to material, and the scaling board of production is fixed
On a robotic arm and it is adjusted to material in same level.
Item number management can be managed different materials, and to support more materials, switching is used.
It is configured into item number, workpiece template and carrier template can be selected and configured, while can also be to camera
Parameter modify and delete.
To template configuration, different templates different modes is divided to configure.Common configuration operating procedure first is that: addition matching area,
Step 2 is: addition identification point and the test that Loads Image determine after saving, and it is inclined that identification calculating can be carried out to workpiece later
Difference.
After template is built up, into next step feeding position calculations of offset.It clicks automatic calculating and is operated according to prompt,
To calculate the relationship of rotation center Yu feeding position.If required precision is high, the distance and phase that guarantee camera and target are also needed
Machine is adjusted if having difference to the identical apart from three of scaling board.Ensure to insert feeding position height, puts controlling level and angle
The data such as degree compensation.
After contraposition calibration, item number management, item number configuration all finish, it can click and bring into operation, control automatically grabs
Material, contraposition are put.In the case where same scene and same material, material frame, each run is clicked directly on out later
Begin to run.
Embodiment 6
After the work for carrying out basis installation, connection, judge that workpiece placement state is uncertain, carrier placement position state is not
It determines, required precision is high, and first camera is mounted on above workpiece, and second camera is mounted on above carrier, and third camera is mounted on
Above manipulator, host computer will judge first camera shoot the second imaging device of location of workpiece image and shoot carrier position image,
Then manipulator, which takes to move, shoots location of workpiece image above Workpiece transfer to third camera, be then transferred in carrier.
After camera configuration, need to set underlying parameter.Shooting point coordinate must be recorded.
If pattern distortion influences precision, need to carry out distortion rectification.Plan-position where scaling board does not measure up, i.e. object
Plane where material does not measure up, it is possible to cause to shoot picture distortion, need to carry out distortion rectification.It is raw by detecting grid stain
At calibration point, the row of the point composition recognized must be comprising identical quantity, and the starting position of row is necessary for same row,
If there is unwanted point, then after clicking " deleting point " button, unwanted point, which is framed, to delete it.
After distortion rectification starts, manipulator need to be moved to the position of distortion rectification plate according to prompt.
Being provided with can be calibrated.Click starts to demarcate, and client can issue prompt, operates according to prompt.
Client can continue to send order control movement and figure is taken to calculate in the process, and when needing user to confirm, jump out dialog box and allow
User's confirmation, finally prompt " calibration is completed " i.e. calibration terminate.If manipulator joint can rotate 180 on the basis of shooting point
Degree, can choose corresponding option in figure, keep precision more accurate.
Before starting calibration, two dimensional code scaling board needs fixation to want on manipulator, while guaranteeing that scaling board level is put, and with
The plane that material is put when practical contraposition is in same level.Current calibration board placing height, it is meant that material needs padded
It is placed on the horizontal plane of scaling board.Certain actual conditions are the horizontal planes put according to material, and the scaling board of production is fixed
On a robotic arm and it is adjusted to material in same level.
Item number management can be managed different materials, and to support more materials, switching is used.
It is configured into item number, workpiece template and carrier template can be selected and configured, while can also be to camera
Parameter modify and delete.
To template configuration, different templates different modes is divided to configure.Common configuration operating procedure first is that: addition matching area,
Step 2 is: addition identification point and the test that Loads Image determine after saving, and it is inclined that identification calculating can be carried out to workpiece later
Difference.
After template is built up, into next step feeding position calculations of offset.It clicks automatic calculating and is operated according to prompt,
To calculate the relationship of rotation center Yu feeding position.If required precision is high, the distance and phase that guarantee camera and target are also needed
Machine is adjusted if having difference to the identical apart from three of scaling board.Ensure to insert feeding position height, puts controlling level and angle
The data such as degree compensation.
After contraposition calibration, item number management, item number configuration all finish, it can click and bring into operation, control automatically grabs
Material, contraposition are put.In the case where same scene and same material, material frame, each run is clicked directly on out later
Begin to run.
The above description of disclosed embodiment of this invention makes professional and technical personnel in the field can be realized or use this hair
It is bright.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, originally
Invention is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein
Consistent widest scope.
Claims (9)
1. a kind of automatic aligning method of more scenes, which is characterized in that it is included at least:
Objective table is used to place workpiece and places the carrier of workpiece；
Imaging device is used to shoot the image of workpiece and/or carrier to provide data by host computer visual identification algorithm
Information is to obtain the displacement correction data of manipulator；
Manipulator to suction piece and is transferred to carrier；
Host computer, the execution for presetting the element of scene of performing environment, programmable control imaging device and manipulator are dynamic
Make, the element of the scene of the environment includes:
The location of workpiece, the location of workpiece are the placement position of the workpiece on the objective table of side；
Carrier position, the carrier position are the placement position of the carrier on the objective table of the other side；
And
The requirement of workpiece placement precision, when the workpiece is moved to carrier position by the location of workpiece, workpiece is placed in carrier
Position offset；
Host computer will judge that control manipulator selects one according to logic and executes movement according to scene element, and the host computer is by foundation
It is to realize that workpiece takes shifting through manipulator according to following methods that scene element judgement control manipulator, which selects execution movement according to logic,
It is transferred from side objective table to the carrier of other side objective table:
Step 1 successively examines workpiece location status, carrier position state and the requirement of workpiece placement precision；
Step 2 determines quantity and the position of imaging device according to step 1；
Step 3, PC control imaging device and manipulator select one according to following logic and execute movement, specifically,
When location of workpiece state is not fixed, and carrier position state is fixed, and the requirement of workpiece placement precision is low, then imaging device is one
It is a and be fixed on manipulator or the top of the location of workpiece, and execute following movement: imaging device shoots location of workpiece image
Manipulator takes shifting workpiece to be transferred in carrier by the location of workpiece afterwards；
When location of workpiece state is fixed, and carrier position state is fixed, and workpiece placement precision requires height, then imaging device is one
And be fixed between the location of workpiece and carrier position, and execute following movement: manipulator, which takes, to be moved workpiece and is moved to imaging device
Top, imaging device are transferred in carrier after shooting location of workpiece image；
When location of workpiece state is fixed, and carrier position state is not fixed, and the requirement of workpiece placement precision is low, then imaging device is one
A and be fixed on manipulator, and execute following movement: manipulator, which takes, to be moved workpiece and is transferred to above carrier position by the location of workpiece,
It is transferred in carrier after imaging device shooting carrier position image；Or imaging device is one and is fixed on the upper of carrier position
It is square, and execute following movement: after imaging device shoots carrier position image, manipulator takes shifting workpiece to be transferred to load by the location of workpiece
In tool；
When location of workpiece state is not fixed, and carrier position state is not fixed, and the requirement of workpiece placement precision is low, then imaging device is
One and be fixed on manipulator, and execute following movement: after imaging device shoots location of workpiece image, manipulator takes shifting workpiece
It, will be in Workpiece transfer to carrier after imaging device shoots carrier position image above to carrier position；Or imaging device is two
A wherein the first imaging device is fixed on above the location of workpiece, the second imaging device is fixed on manipulator, and is executed following dynamic
Make: manipulator takes shifting workpiece to be transferred to above carrier position by the location of workpiece after the first imaging device shooting location of workpiece image,
It is transferred in carrier after second imaging device shooting carrier position image；Or imaging device is two wherein the first imaging devices
It is fixed on the second imaging device above carrier position to be fixed on manipulator, and executes following movement: the first imaging device shooting
Carrier position image, after the second imaging device shoots location of workpiece image, manipulator takes shifting workpiece to be transferred to load by the location of workpiece
In tool；Or imaging device be two wherein the first imaging device be fixed on above the location of workpiece, the second imaging device is fixed on
Above carrier, and execute following movement: the first imaging device shoots location of workpiece image, and the second imaging device shoots carrier position
After image, manipulator takes shifting workpiece to be transferred in carrier by the location of workpiece；
When location of workpiece state is fixed, and carrier position state is not fixed, and workpiece placement precision requires height, then imaging device is two
A, wherein the first imaging device is fixed between the location of workpiece and carrier position, the second imaging device is fixed on manipulator, and
Execute following movement: manipulator, which takes, to be moved above workpiece to the first imaging device, after the first imaging device shoots location of workpiece image
It is transferred to above carrier position, then the second imaging device shoots carrier position image, is then transferred in carrier；Or imaging
Device be two wherein the first imaging device be fixed on the second imaging device above carrier position and be fixed on the location of workpiece and carrier
Between position, and execute following movement: the first imaging device shoots carrier position image, and then manipulator, which takes, moves Workpiece transfer extremely
Location of workpiece image is shot above second imaging device, is then transferred in carrier；
When location of workpiece state is not fixed, and carrier position state is fixed, and workpiece placement precision requires height, then imaging device is two
A wherein the first imaging device is fixed on manipulator, and the second imaging device is fixed between the location of workpiece and carrier position, and
Execute following movement: the first imaging device shoots location of workpiece image, and manipulator, which takes, to be moved on Workpiece transfer to the second imaging device
Side's shooting location of workpiece image, is then transferred in carrier；Or imaging device be two wherein the first imaging device be fixed on
Above the location of workpiece, the second imaging device is fixed between the location of workpiece and carrier position, and executes following movement: the first imaging
Device shoots location of workpiece image, and manipulator, which takes to move, shoots location of workpiece image above Workpiece transfer to the second imaging device, and
After be transferred in carrier；
When location of workpiece state is not fixed, and carrier position state is not fixed, and workpiece placement precision requires height, then imaging device is
Three, wherein the first imaging device is fixed on above the location of workpiece, the second imaging position is fixed on above carrier position, third at
As device is fixed between the location of workpiece and carrier position, and execute following movement: the first imaging device shoots location of workpiece figure
As the second imaging device shooting carrier position image, then manipulator, which takes to move, shoots work above Workpiece transfer to third imaging device
Part location drawing picture, is then transferred in carrier；Or imaging device is three, wherein the first imaging device is fixed on the location of workpiece
Top, the second imaging device are fixed between the location of workpiece and carrier position, and third imaging device is fixed on manipulator, and is held
The following movement of row: the first imaging device shoots location of workpiece image, and then manipulator, which takes, moves Workpiece transfer to the second imaging device
Top shoots location of workpiece image, is then transferred to above carrier position, and third imaging device shoots carrier position image, then
It is transferred in carrier；Or imaging device is three, wherein the first imaging device is fixed on above carrier position, the second imaging dress
It sets and is fixed on manipulator, third imaging device is fixed between the location of workpiece and carrier position, and the following movement of execution: first
Imaging device shoots carrier position image, and the second imaging device shoots location of workpiece image, and then manipulator takes shifting Workpiece transfer
It is transferred in carrier after shooting location of workpiece image above to third imaging device.
2. a kind of automatic aligning method of more scenes according to claim 1, which is characterized in that the imaging device is
Industrial camera.
3. a kind of automatic aligning method of more scenes according to claim 1, which is characterized in that realized according to following methods
Alignment operation,
Step S1: quantity and the position of industrial camera are determined；
Step S2: the focal length and light source of industrial camera are adjusted；
Step S3: the IP address of setting industrial camera and manipulator；
Step S4: setting host computer procedure controls industrial camera and manipulator foundation logic selects one and executes movement.
4. a kind of automatic aligning method of more scenes according to claim 3, which is characterized in that industrial camera is according to following
The precision of step adjustment shooting image:
Step H1: camera calibration step；
Step H2: distortion rectification step；
Step H3: template-setup step.
5. a kind of automatic aligning method of more scenes according to claim 4, which is characterized in that industrial phase in step H1
Machine will demarcate calibrating block to obtain coordinate information, and the calibrating block is two dimensional code calibrating block.
6. a kind of automatic aligning method of more scenes according to claim 5, which is characterized in that the step H2 is
Captured pattern distortion is caused to carry out image procossing to obtain the step of clear image for plane out-of-flatness that material is put
Suddenly.
7. a kind of automatic aligning method of more scenes according to claim 5 or 6, which is characterized in that the step
H3 includes addition matching area step and adds identification point and the testing procedure that Loads Image.
8. a kind of automatic aligning method of more scenes according to claim 7, which is characterized in that further include item number management
Step can be managed different materials, and to support more materials, switching is used.
9. a kind of automatic aligning method of more scenes according to claim 8, which is characterized in that the scene element
In precision height refer to the deviation between the normal place point in position and carrier in Workpiece transfer to carrier 0.01mm extremely
Between 0.09mm range.
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