CN109029369B - Detection method for flight shooting - Google Patents
Detection method for flight shooting Download PDFInfo
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- CN109029369B CN109029369B CN201810539089.7A CN201810539089A CN109029369B CN 109029369 B CN109029369 B CN 109029369B CN 201810539089 A CN201810539089 A CN 201810539089A CN 109029369 B CN109029369 B CN 109029369B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0006—Industrial image inspection using a design-rule based approach
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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Abstract
The invention discloses a detection method for flight shooting, which is used for product glue dispensing early-stage detection, product glue dispensing position determination and product glue dispensing effect detection, and comprises the following steps: s10, respectively drawing a product dispensing early-stage detection template MARK1, a product dispensing position template MARK2 and a product dispensing effect detection template MARK 3; s20, photographing the product on the work plate through the flight shooting device, and marking the position where the product is not damaged; s30, shooting the unmarked positions in the step S20 through a flight shooting device to obtain product images; s40, dispensing the product at the dispensing position; and S50, photographing the effect of the product after dispensing through the flight shooting device to obtain a detection image and judging whether the dispensing effect is qualified. According to the detection method for the flight shooting, disclosed by the embodiment of the invention, the early detection of the product dispensing, the determination of the product dispensing position and the detection of the product dispensing effect can be realized through the flight shooting device, the detection efficiency is high, the cost is low, and the operation is simple.
Description
Technical Field
The invention relates to the technical field of flight shooting, in particular to a detection method of flight shooting.
Background
In recent years, electronic products are developed in the direction of miniaturization, high density and diversification, and some parts of some electronic products need to be subjected to glue dispensing because the glue dispensing can play a role in shock absorption, protection, moisture prevention and the like on the parts. In order to ensure the accuracy of dispensing, the position of the product needs to be photographed and identified; in order to judge the dispensing effect, photographing detection is required; in order to improve efficiency, the product needs to be checked for quality and presence before point crossing. In the prior art, the product quality detection, the product dispensing position detection and the product dispensing effect detection are mostly performed by three machines respectively, so that the generation cost is high; during dispensing, the dispensing position is determined by positioning, stopping stably (more than 30 milliseconds) and photographing (more than 10 milliseconds), and the acceleration and deceleration time influences the production efficiency when the number of products is large.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a detection method for flight shooting.
The detection method of the flight shooting according to the embodiment of the invention is used for product dispensing early-stage detection, product dispensing position determination and product dispensing effect detection, and comprises the following steps: s10, respectively drawing a product dispensing early-stage detection template MARK1, a product dispensing position template MARK2 and a product dispensing effect detection template MARK 3; s20, photographing the product on the work plate through the flight shooting device, and marking the position where the product is not damaged; s30, photographing the unmarked positions in the step S20 through the flight shooting device to obtain product images; s40, dispensing the products at the dispensing positions; and S50, photographing the effect of the product after dispensing through the flight shooting device to obtain a detection image and judging whether the dispensing effect is qualified.
According to the detection method for the flight shooting, disclosed by the embodiment of the invention, the early detection of the product dispensing, the determination of the product dispensing position and the detection of the product dispensing effect can be realized through the flight shooting device, the batch detection can be carried out, the detection efficiency is high, the cost is low, and the operation is simple.
According to the flight shooting method of the above embodiment of the invention, the following additional technical features can be provided:
according to an embodiment of the present invention, before step S10, the method further includes: and S00, calculating the shooting deviation D of the flight shooting device.
According to an embodiment of the invention, in step S20, the product pre-dispensing detection template MARK1 is compared and the MARK position is corrected according to the shooting deviation D.
According to an embodiment of the present invention, in step S30, the product image position is corrected by comparing the product dispensing position template MARK2 with the shooting deviation D to determine the dispensing position of the product.
According to an embodiment of the present invention, in step S50, the detected image is corrected by comparing the dispensing effect detection template MARK3 with the shooting deviation D to detect whether the dispensing effect is acceptable.
According to an embodiment of the present invention, in step S00, the calculation of the photographing deviation D includes: s01, drawing a positioning template image; s02, respectively moving the positioning template images to two relative positions at the edge of the shooting range of the flight shooting device and respectively saving the coordinates of the two positions as W1 and W2, and moving the positioning template images to the center of the shooting range of the flight shooting device and saving the coordinates of the positions as W3; s03, setting flight parameters of the flight shooting device, triggering shooting signals by the flight shooting device when the flight shooting device passes through the W1, the W2 and the W3, and respectively obtaining images T1, T2 and T3 at the positions of W1, W2 and W3; and S04, comparing the images T1, T2 and T3 with the positioning template image respectively, and calculating the shooting deviation D of the flight shooting device under the flight parameters.
According to an embodiment of the present invention, in the step S02, the flight camera flies in the X-axis direction, the location template images are respectively moved to the leftmost and rightmost positions and the middle of the shooting range of the flight camera and the three position coordinates are respectively saved as the W1, W2 and W3.
According to one embodiment of the invention, in step S03, the flight parameters are flight speed and flight acceleration.
According to one embodiment of the invention, the flight shooting device flies at a constant speed during shooting.
According to one embodiment of the invention, the number of products is at least two.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a detection method for flight photography according to an embodiment of the present invention;
fig. 2 is a flowchart of calculating the photographing deviation D according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A detection method of the flight shot according to an embodiment of the present invention is described below with reference to fig. 1.
As shown in fig. 1, the detection method of the flight shooting according to the embodiment of the present invention is used for the detection of the product dispensing earlier stage, the determination of the product dispensing position, and the detection of the product dispensing effect, and the detection method of the flight shooting includes the following steps:
s10, respectively drawing a product dispensing early-stage detection template MARK1, a product dispensing position template MARK2 and a product dispensing effect detection template MARK 3;
s20, photographing the product on the work plate through the flight shooting device, and marking the position where the product is not damaged;
s30, shooting the unmarked positions in the step S20 through a flight shooting device to obtain product images;
s40, gluing the product at the point dispensing position;
and S50, photographing the effect of the product after dispensing through the flight shooting device to obtain a detection image and judging whether the dispensing effect is qualified.
That is to say, in order to improve the work efficiency, whether the products are good or bad or not is detected before dispensing, if no products exist or the products are damaged, the products are marked at the positions, then the positions which are not marked are photographed to determine the specific positions of dispensing of the products, finally, the products subjected to dispensing are subjected to quality detection, and unqualified products subjected to dispensing are found in time to take corresponding measures.
Therefore, according to the detection method for flight shooting provided by the embodiment of the invention, the early detection of product dispensing, the determination of product dispensing position and the detection of product dispensing effect can be realized through the flight shooting device, the batch detection can be performed, the detection efficiency is high, the cost is low, and the operation is simple.
According to some specific embodiments of the present invention, before step S10, the method further includes:
and S00, calculating the shooting deviation D of the flight shooting device.
Preferably, in step S20, the product pre-dispensing detection template MARK1 is compared with the shooting deviation D to correct the MARK position.
Optionally, in step S30, the product image position is corrected by comparing the product dispensing position template MARK2 with the shooting deviation D to determine the dispensing position of the product.
According to an embodiment of the present invention, in step S50, the detected image is corrected by comparing the dispensing effect detection template MARK3 with the shooting deviation D to detect whether the dispensing effect is acceptable.
That is to say, there is the deviation in flight shooting ware is shooed at the flight in-process, can make the location of product and testing result more accurate through shooing deviation D.
According to an embodiment of the present invention, as shown in fig. 2, the calculation of the photographing deviation D in step S00 includes:
s01, drawing a positioning template image;
s02, respectively moving the positioning template image to two relative positions at the edge of the shooting range of the flight shooting device and respectively saving the coordinates of the two positions as W1 and W2, and moving the positioning template image to the center of the shooting range of the flight shooting device and saving the coordinate of the position as W3;
s03, setting flight parameters of the flight shooting device, triggering shooting signals by the flight shooting device when the flight shooting device passes through W1, W2 and W3, and respectively acquiring images T1, T2 and T3 at W1, W2 and W3;
and S04, comparing the images T1, T2 and T3 with the positioning template images respectively, and calculating the shooting deviation D of the flight shooting device under the flight parameters.
Therefore, the positioning template image is drawn firstly, the flight parameters of the flight shooting device are set, the shooting deviation D under the flight parameters is calculated, the product template image is drawn again, the product image is compared with the product template image and is corrected through the shooting deviation D, operation is facilitated, the working efficiency is high, errors are small, and the dispensing position can be accurately positioned.
According to some embodiments of the present invention, in step S02, the flight camera may fly in the X-axis direction, the localization template images are respectively moved to the leftmost and rightmost positions and the middle of the shooting range of the flight camera and the three position coordinates are respectively saved as W1, W2 and W3. It should be noted that the flight camera may also fly along the Y-axis direction or other directions, and similarly, coordinates of three positions at both ends and the middle can also be obtained.
Preferably, in step S03, the flight parameters are flight speed and flight acceleration, which affect the shooting error of the flight camera, and the shooting accuracy can be improved by setting these two parameters.
According to one embodiment of the invention, the flight shooting device flies at a constant speed in the shooting process, and the flight shooting device flies at a constant speed, so that the shooting deviation is calculated conveniently, and the shooting precision can be ensured.
In some embodiments of the invention, there are at least two products. That is to say, according to the flight shooting method provided by the embodiment of the invention, at least two products can be shot, so that the dispensing positions can be obtained, and the production efficiency can be effectively improved.
According to the fluid coating device of the second aspect of the present invention, the flying photography method according to the first aspect of the present invention is adopted to determine the dispensing position of the product, and since the flying photography method according to the above-mentioned embodiment of the present invention has the above-mentioned technical effects, the fluid coating device according to the embodiment of the present invention also has the corresponding technical effects, that is, the device determines the dispensing position accurately, and is convenient to use and high in production efficiency.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. The utility model provides a detection method that flight was shot for product point is glued earlier stage and is detected, product point is glued the position and is confirmed and product point effect detection, its characterized in that includes:
s10, respectively drawing a product dispensing early-stage detection template MARK1, a product dispensing position template MARK2 and a product dispensing effect detection template MARK 3;
s20, photographing the product on the work plate through the flight shooting device, and marking the position where the product is not damaged;
s30, shooting the unmarked positions in the step S20 through the flight shooting device to obtain product images;
s40, dispensing the products at the dispensing positions;
s50, shooting the effect of the product after dispensing through a flight shooting device to obtain a detection image and judging whether the dispensing effect is qualified or not;
before step S10, the method further includes:
s00, calculating the shooting deviation D of the flight shooting device;
in step S20, comparing the product pre-dispensing detection template MARK1 and correcting the MARK position in combination with the shooting deviation D;
in step S30, comparing the product dispensing position template MARK2 and correcting the product image position in combination with the shooting deviation D to determine the dispensing position of the product;
in step S50, the detected image is corrected by comparing the dispensing effect detection template MARK3 with the shooting deviation D to detect whether the dispensing effect is acceptable.
2. The detection method of flying photography according to claim 1, wherein in step S00, the calculation of the photography deviation D includes:
s01, drawing a positioning template image;
s02, respectively moving the positioning template images to two relative positions at the edge of the shooting range of the flight shooting device and respectively saving the coordinates of the two positions as W1 and W2, and moving the positioning template images to the center of the shooting range of the flight shooting device and saving the coordinates of the positions as W3;
s03, setting flight parameters of the flight shooting device, triggering shooting signals by the flight shooting device when the flight shooting device passes through the W1, the W2 and the W3, and respectively obtaining images T1, T2 and T3 at the positions of W1, W2 and W3;
and S04, comparing the images T1, T2 and T3 with the positioning template image respectively, and calculating the shooting deviation D of the flight shooting device under the flight parameters.
3. The inspection method for flight photography according to claim 2, wherein in the step S02, the flight photographer flying in the X-axis direction, the positioning template images are respectively moved to the leftmost and rightmost positions and the middle of the shooting range of the flight photographer and the three position coordinates are respectively saved as the W1, W2 and W3.
4. The detection method of flying shots according to claim 2, wherein in step S03, the flying parameters are flying speed and flying acceleration.
5. The detection method for flight photography according to claim 2, wherein the flight photography device flies at a constant speed during the photography process.
6. The detection method of flying shots according to claim 2, characterized in that the number of products is at least two.
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| CN201810539089.7A CN109029369B (en) | 2018-05-30 | 2018-05-30 | Detection method for flight shooting |
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| CN201810539089.7A CN109029369B (en) | 2018-05-30 | 2018-05-30 | Detection method for flight shooting |
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| JP2008221183A (en) * | 2007-03-15 | 2008-09-25 | Toshiba Corp | Liquid droplet ejection/coating apparatus and method for preparing coated article |
| CN103593663B (en) * | 2013-09-27 | 2016-08-17 | 北京中钞钞券设计制版有限公司 | A kind of image position method of money forme |
| CN104607369B (en) * | 2014-12-29 | 2017-02-22 | 深圳市轴心自控技术有限公司 | Flying scanning method and glue dispensing method using the same |
| CN105973144A (en) * | 2016-05-06 | 2016-09-28 | 深圳市鑫三力自动化设备有限公司 | Adhesive dispensing image detecting system |
| CN109475897A (en) * | 2016-07-08 | 2019-03-15 | 麦克唐纳德特威勒联合公司 | Using automaticmanual vision guide distribution viscous fluid with the system and method for calking and seal operation |
| CN106733525A (en) * | 2016-11-24 | 2017-05-31 | 杭州力视科技有限公司 | A kind of method and device of the automatically dropping glue based on dual camera |
| CN106950917B (en) * | 2017-01-23 | 2019-10-22 | 深圳市卓翼科技股份有限公司 | Camera calibrated method and device |
| CN107977985B (en) * | 2017-11-29 | 2021-02-09 | 上海拓攻机器人有限公司 | Unmanned aerial vehicle hovering method and device, unmanned aerial vehicle and storage medium |
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