CN109059760A - A kind of tool alignment method and its device - Google Patents
A kind of tool alignment method and its device Download PDFInfo
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- CN109059760A CN109059760A CN201810859033.XA CN201810859033A CN109059760A CN 109059760 A CN109059760 A CN 109059760A CN 201810859033 A CN201810859033 A CN 201810859033A CN 109059760 A CN109059760 A CN 109059760A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention discloses a kind of tool alignment method and devices, belong to visual-alignment field.The described method includes: the first point light source is arranged in bottom plate the first side wall, the first linear image sensor array is arranged in opposite third side wall；The second point light source is set in bottom plate second sidewall, the second linear image sensor array is arranged in opposite 4th side wall；Control unit is set on bottom plate, receives the contraposition tool by first point light source and first linear image sensor array cooperation and second point light source and obtains position coordinates through processing with after imager coordinate when second linear image sensor array cooperation.Through the embodiment of the present invention, the fast automatic contraposition of contraposition tool is realized, it is simple and efficient to handle, at low cost, high-efficient, to meet the fast development of industry.
Description
Technical field
The present invention relates to visual-alignment field, in particular to a kind of tool alignment device based on linear imaging sensor and
Its method.
Background technique
With science and technology it is increasingly developed, the demand that every profession and trade aligns tool is increasing, it is desirable that also higher and higher.?
In the production processes such as manufacture, processing, the test of product, the application of contraposition is further extensive.
Relevant automated tool alignment method is broadly divided into contact tool alignment method and contactless tool contraposition side
Method.Wherein, it using contact alignment method, needs that tool pressure sensor need to be being aligned, tool need to be aligned and contacted
In journey can generating tool deformation error and abrasion or damage, gradually decreased in this method practical application.It is contactless
Tool alignment method, it is main favorably to use optical fiber laser tool alignment method, utilize camera CCD (Charge Coupled
Device, charge-coupled device) camera utility alignment method.Using optical-fiber laser tool alignment method, due to being difficult by one
Secondary or adjustment several times obtains correct position, and there are inconvenient for operation, aligning accuracy is low, cannot achieve the problems such as rapid-aligning.
It is that the image transmitting of camera acquisition is subjected to image processing and analyzing to computer using camera CCD camera tool alignment method,
The coordinate position of tool is obtained again.Since CCD camera is at high price, so that higher cost, it is also necessary to it is transmitted with computer, it is past
It takes a long time toward needs for finely tuning, therefore time-consuming too long and low efficiency.
Thus, it is necessary to a kind of new tool contraposition scheme be proposed, to solve the above technical problem.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of tool alignment method and its device, the quick of contraposition tool is realized
Automatic aligning, it is simple and efficient to handle, at low cost, high-efficient, to meet the fast development of industry.
It is as follows that the present invention solves technical solution used by above-mentioned technical problem:
According to an aspect of the present invention, a kind of tool alignment method provided, comprising:
The first point light source is set in bottom plate the first side wall, the first linear image sensor array is arranged in opposite third side wall；
The second point light source is set in bottom plate second sidewall, the second linear image sensor array is arranged in opposite 4th side wall；
Control unit is set on bottom plate, it is linear with described first by first point light source to receive the contraposition tool
Imaging when image sensor array cooperation and second point light source and second linear image sensor array cooperate
Position coordinates are obtained through processing after coordinate.
In a possible design, first point light source is linked to be straight with first linear image sensor array
The straight line that line is linked to be with second point light source with second linear image sensor array intersects vertically.
In a possible design, first linear image sensor array and second linear imaging sensor
Array is made of multiple images sensor by linear array respectively, and degree in a vertical angle is separately positioned on the third side of the bottom plate
Wall and the 4th side wall.
In a possible design, described control unit receives the contraposition tool and passes through first point light source and institute
It states the cooperation of the first linear image sensor array and second point light source is matched with second linear image sensor array
Position coordinates are obtained through processing after imager coordinate when conjunction, comprising:
It receives the processing contraposition tool and passes through the first point light source in the imaging of first linear image sensor array
Y axis coordinate is obtained after coordinate；
It receives the processing contraposition tool and passes through the second point light source in the imaging of second linear image sensor array
X axis coordinate is obtained through processing after coordinate；
It is put down by moving up and down for the contraposition tool with by the light of the first point light source and the second point light source covering (X, Y)
The intersection point in face obtains Z axis coordinate, obtains the position coordinates (X, Y, Z) of the contraposition tool.
In a possible design, the method be may further comprise: in first point light source and the second point
Antiglare module is respectively set in the edge of light source, controls the light that first point light source issues respectively and covers described first linearly
The light that image sensor array and second point light source issue covers second linear image sensor array.
According to another aspect of the present invention, a kind of tool alignment method provided, comprising:
It receives the processing contraposition tool and passes through the first point light source in the imaging of first linear image sensor array
Y axis coordinate is obtained after coordinate；
It receives the processing contraposition tool and passes through the second point light source in the imaging of second linear image sensor array
X axis coordinate is obtained through processing after coordinate；
It is put down by moving up and down for the contraposition tool with by the light of the first point light source and the second point light source covering (X, Y)
The intersection point in face obtains Z axis coordinate, obtains the position coordinates (X, Y, Z) of the contraposition tool.
In a possible design, first point light source is arranged in bottom plate the first side wall, first linear image
The bottom plate third side wall opposite with first point light source is arranged in sensor array；Second point light source is arranged in bottom plate second
Bottom plate fourth side wall opposite with second point light source is arranged in side wall, second linear image sensor array；Described
The straight line and second point light source and described second that one point light source and first linear image sensor array are linked to be are linear
The straight line that image sensor array is linked to be intersects vertically.
According to another aspect of the present invention, a kind of tool alignment device provided, comprising: bottom plate, control unit, first
Point light source, the second point light source, the first linear imaging sensor, the second linear imaging sensor；Wherein:
First point light source is arranged in the bottom plate the first side wall, and opposite third side wall is arranged first linear image and passes
Sensor；
Second point light source is arranged in the bottom plate second sidewall, and opposite 4th side wall is arranged second linear image and passes
Sensor；
Described control unit be arranged on the bottom plate, for receive the contraposition tool by first point light source with
The first linear image sensor array cooperation and second point light source and second linear image sensor array
Position coordinates are obtained through processing after imager coordinate when cooperation.
In a possible design, first point light source is linked to be straight with first linear image sensor array
The straight line that line is linked to be with second point light source with second linear image sensor array intersects vertically.
In a possible design, first linear image sensor array and second linear imaging sensor
Array is made of multiple images sensor by linear array respectively, and degree in a vertical angle is separately positioned on the third side of the bottom plate
Wall and the 4th side wall.
In a possible design, described control unit receives the contraposition tool and passes through first point light source and institute
It states the cooperation of the first linear image sensor array and second point light source is matched with second linear image sensor array
Position coordinates are obtained through processing after imager coordinate when conjunction, comprising:
It receives the contraposition tool and passes through the first point light source in the imager coordinate of first linear image sensor array
Obtain Y axis coordinate after processing afterwards；
It receives the contraposition tool and passes through the second point light source in the imager coordinate of second linear image sensor array
X axis coordinate is obtained by processing；
It is put down by moving up and down for the contraposition tool with by the light of the first point light source and the second point light source covering (X, Y)
The intersection point in face obtains Z axis coordinate, obtains the position coordinates (X, Y, Z) of the contraposition tool.
In a possible design, described device still further comprises antiglare module, and the antiglare module is respectively set
At the edge of first point light source and second point light source, the light for being respectively used to control the first point light source sending covers
It covers the light that first linear image sensor array and second point light source issue and covers described second linearly
Image sensor array.
Compared with prior art, a kind of tool alignment method and its device provided in an embodiment of the present invention, comprising: in bottom plate
The first point light source is arranged in the first side wall, and the first linear image sensor array is arranged in opposite third side wall；In bottom plate second sidewall
Second point light source is set, and the second linear image sensor array is arranged in opposite 4th side wall；Control unit is set on bottom plate, is connect
It receives the contraposition tool and passes through first point light source and first linear image sensor array cooperation and described second
Position coordinates are obtained through processing after imager coordinate when point light source and second linear image sensor array cooperate.Pass through
The embodiment of the present invention, it is simple and effective using the tool alignment device of the point light source and linear imaging sensor, quickly obtain
The position of tool need to be aligned, it can be achieved that fast automatic contraposition, greatly improves the precision and reliability of tool contraposition, contraposition speed
Degree is also improved, and improves working efficiency, has the characteristics that simple and efficient to handle；The use of image lens is eliminated, substantially
The cost for reducing tool contraposition, reduces the operation of manual confirmation, automates system more, improve the work of machine indirectly
Make efficiency；And do not require tool need to be aligned, will not damage need to align tool, prevent contingency and avoid unnecessary damage
It loses；On the other hand, para postion coordinate directly is transmitted out, no matching is required computer and biography by the present invention by control unit
Defeated original image, it is easy to use, work efficiency is high, at low cost, it has the value of popularization and application.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of tool alignment device provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of tool alignment method provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram for the tool alignment device for having XYZ coordinate axis provided in an embodiment of the present invention；
Fig. 4 is a kind of signal that imager coordinate (u, v) is converted to motor coordinate (x, y) provided in an embodiment of the present invention
Figure；
Fig. 5 be another embodiment of the present invention provides a kind of tool alignment method flow diagram；
Fig. 6 be another embodiment of the present invention provides a kind of tool alignment method flow diagram.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
In order to be clearer and more clear technical problems, technical solutions and advantages to be solved, tie below
Drawings and examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
In subsequent description, it is only using the suffix for indicating such as " module ", " component " or " unit " of element
Be conducive to explanation of the invention, itself there is no a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
Please refer to Fig. 1.A kind of tool alignment device based on linear imaging sensor provided in an embodiment of the present invention, packet
It includes: bottom plate 1, control unit 2, the first point light source 3, the second point light source 4, first linear as made of the arrangement of multiple images sensor
Image sensor array 6, as multiple images sensor arrangement made of the second linear image sensor array 5, antiglare module 7,
Antiglare module 8；Wherein:
First point light source 3 is arranged in 1 the first side wall of bottom plate, and first linear image is arranged in opposite third side wall
Sensor array 6；
Second point light source 4 is arranged in 1 second sidewall of bottom plate, and second linear image is arranged in opposite 4th side wall
Sensor array 5；
The straight line and the second point light that first point light source 3 is linked to be with first linear image sensor array 6
The straight line that source 4 is linked to be with second linear image sensor array 5 intersects vertically；
Described control unit 2 is arranged on bottom plate 1, need to align tool for reception and pass through first point light source 3 and institute
State the cooperation of the first linear image sensor array 6 and second point light source 4 and second linear image sensor array
Position coordinates are obtained through processing after imager coordinate when 5 cooperation.
The antiglare module 7, setting is at 3 edge of the first point light source, for controlling the sending of the first point light source 3
Light covers first linear image sensor array 6.
The antiglare module 8, setting is at 4 edge of the second point light source, for controlling the sending of the second point light source 4
Light covers second linear image sensor array 5.
Further, described control unit 2 receives the contraposition tool and passes through first point light source 3 and the First Line
Property the cooperation of image sensor array 6 and second point light source 4 and second linear image sensor array 5 when cooperating
Imager coordinate after through processing obtain position coordinates, comprising:
First point light source 3 cooperates with first linear image sensor array 6, and reception need to align tool by the
One point light source 3 obtains Y axis coordinate in the imager coordinate of first linear image sensor array 6 after processing；
Second point light source 4 cooperates with second linear image sensor array 5, and reception need to align tool by the
Two point light sources 4 obtain X axis coordinate in the imager coordinate of second linear image sensor array 5 after processing；
The straight line and the first point light that second point light source 4 is linked to be with second linear image sensor array 5
The straight line that source 3 is linked to be with first linear image sensor array 6 intersects vertically, and obtains coordinate (X, Y)；
It is put down by the way that moving up and down for tool need to be aligned with by the light of the first point light source 3 and the second point light source 4 covering (X, Y)
The intersection point in face obtains Z axis coordinate, to obtain the definite position coordinates (X, Y, Z) that need to align tool.
Preferably, first linear image sensor array 6 and second linear image sensor array 5 respectively by
Multiple images sensor is formed by linear array, and first linear image sensor array 6 and second linear image
Sensor array 5 is in a vertical angle to spend the third side wall and the 4th side wall for being separately positioned on the bottom plate 1.
Preferably, described control unit 2 can be control panel circuit or processor, or have control and image procossing function
The element of energy.
Preferably, the antiglare module 7 and antiglare module 8 can make first point light source 3 and second point light source 4
The light of sending just covers first linear image sensor array 6 and second linear image sensor array 5,
And other orientation can't be impacted；The antiglare module 7 and antiglare module 8 can be light shelter or barn door or lifting
Plate or element with the above function.
Preferably, the tool that need to align is dispensing needle head.
A kind of tool alignment device based on linear imaging sensor provided in an embodiment of the present invention in practical application, its
Process is as follows:
The first point light source 3 and the second point light source 4 are opened respectively, and the tool that need to align is placed in the first point light source 3 and first
The straight line that the straight line that linear image sensor array 6 is linked to be is linked to be with the second point light source 4 and the second linear image sensor array 5
On the position to intersect vertically；
The tool that need to align is set to pass through the light of the first point light source 3 sending in first linear image sensor array
6 projections form imager coordinate and obtain Y axis coordinate after described control unit is handled；
The tool that need to align is set to pass through the light of the second point light source 4 sending in second linear image sensor array
5 projections form imager coordinate and obtain X axis coordinate after described control unit is handled；
Moving up and down for tool need to be aligned by, which making, covers (X, Y) plane with by the light of the first point light source 3 and the second point light source 4
Intersection point, obtain Z axis coordinate, to obtain the definite position coordinates (X, Y, Z) that need to align tool.
Please refer to Fig. 2.The embodiment of the present invention provides a kind of tool alignment method based on linear imaging sensor, comprising:
S1, the first point light source is set in bottom plate the first side wall, the first linear imaging sensor battle array is arranged in opposite third side wall
Column；The second point light source is set in bottom plate second sidewall, the second linear image sensor array is arranged in opposite 4th side wall；
S2, control unit is set on bottom plate, described control unit receives the contraposition tool and passes through the first point light
Source and first linear image sensor array cooperation and second point light source and second linear imaging sensor
Position coordinates are obtained through processing after imager coordinate when array cooperates.
Further, in the step S1, first linear image sensor array and second linear image are passed
Sensor array is made of multiple images sensor by linear array respectively, and first linear image sensor array and described
Second linear image sensor array is in a vertical angle to spend the third side wall and the 4th side wall for being separately positioned on the bottom plate.
Further, in the step S1, first point light source and first linear image sensor array are set
The straight line that the straight line being linked to be is linked to be with second point light source with second linear image sensor array intersects vertically.
Further, in the step S1, further comprise, respectively in first point light source and second point light source
Edge antiglare module is set, be respectively used to control the light that first point light source issues and cover first linear image
The light that sensor array and second point light source issue covers second linear image sensor array.
Further, in the step S2, described control unit receives the contraposition tool and passes through first point light source
With first linear image sensor array cooperation and second point light source and the second linear imaging sensor battle array
Position coordinates are obtained through processing after imager coordinate when column cooperation, comprising:
It receives the contraposition tool and passes through the first point light source in the imager coordinate of first linear image sensor array
Obtain Y axis coordinate after processing afterwards；
It receives the contraposition tool and passes through the second point light source in the imager coordinate of second linear image sensor array
X axis coordinate is obtained by processing；
It is put down by moving up and down for the contraposition tool with by the light of the first point light source and the second point light source covering (X, Y)
The intersection point in face obtains Z axis coordinate, obtains the definite position coordinates (X, Y, Z) of the contraposition tool.
The present invention is further described for explanation and specific embodiment with reference to the accompanying drawing.
Embodiment 1:
Please refer to Fig. 3.The embodiment of the present invention provides a kind of tool alignment device based on linear imaging sensor, comprising:
Bottom plate 1, control unit 2, the first point light source 3, the second point light source 4, the first linear graph as made of the arrangement of multiple images sensor
As sensor array 6, the second linear image sensor array 5 as made of the arrangement of multiple images sensor, antiglare module 7, hide
Optical module 8；Wherein:
The first side wall of the bottom plate 1 is arranged in first point light source 3, it is opposite with first point light source 3 described in
First linear image sensor array 6 is set on the third side wall of bottom plate 1.
The third side wall of the bottom plate 1 is arranged in second point light source 4, it is opposite with first point light source 4 described in
Second linear image sensor array 5 is set on 4th side wall of bottom plate 1.
The straight line and the second point light that first point light source 3 is linked to be with first linear image sensor array 6
The straight line that source 4 is linked to be with second linear image sensor array 5 intersects vertically.
First linear image sensor array 6 and second linear image sensor array 5 are respectively by multiple figures
Picture sensor is formed by linear array, and first linear image sensor array 6 and second linear imaging sensor
Array 5 is in a vertical angle to spend the third side wall and the 4th side wall for being separately positioned on the bottom plate 1.
Described control unit 2 is arranged on bottom plate 1, need to align tool for reception and pass through first point light source 3 and institute
State the cooperation of the first linear image sensor array 6 and second point light source 4 and second linear image sensor array
Position coordinates are obtained through processing after imager coordinate when 5 cooperation；Include:
Using the 4 place bottom plate side of the second point light source as X-axis, where first linear image sensor array 6
Bottom plate side is Y-axis, with the 4 place bottom plate side of the second point light source and with 6 institute of the first linear image sensor array
Intersection point in bottom plate side is origin, passes perpendicularly through origin as Z axis using plane where X-axis and Y-axis.
First point light source 3 cooperates with first linear image sensor array 6, and reception need to align tool by the
The light that one point light source 3 issues obtains Y-axis in the imager coordinate v of first linear image sensor array 6 after processing
Coordinate (0, Y)；
Second point light source 4 cooperates with second linear image sensor array 5, and reception need to align tool by the
The light that two point light sources 4 issue obtains X-axis in the imager coordinate u of second linear image sensor array 5 after processing
Coordinate (X, 0)；
The straight line and the first point light that second point light source 4 is linked to be with second linear image sensor array 5
The straight line that source 3 is linked to be with first linear image sensor array 6 intersects vertically, and obtains coordinate (X, Y)；
It is covered by the way that moving up and down for tool need to be aligned with the light of light and the second point light source 4 by the first point light source 3
The intersection point of the plane of coordinate (X, Y) obtains Z axis coordinate after processing, (X, Y, Z) coordinate is obtained, to obtain that tool need to be aligned
Definite position coordinates (X, Y, Z).
The antiglare module 7, setting is at 3 edge of the first point light source, for controlling the sending of the first point light source 3
Light just covers first linear image sensor array 6, and can't impact to other orientation；The shading
Module 7 can be light shelter or barn door or lifter plate or element with the above function, in the present embodiment, the photomask
Block 7 is light shelter.
The antiglare module 8, setting is at 4 edge of the second point light source, for controlling the sending of the second point light source 4
Light just covers second linear image sensor array 5, and can't impact to other orientation；The shading
Module 8 can be light shelter or barn door or lifter plate or element with the above function, in the present embodiment, the photomask
Block 8 is light shelter.
Embodiment 2:
Please refer to Fig. 4.It is provided in an embodiment of the present invention a kind of imager coordinate (u, v) to be converted into motor coordinate (x, y)
Schematic diagram.
The imager coordinate (u, v) that described control unit 2 receives is need to align tool to pass through first point light source 3 and the
It is obtained after two point light sources 4 in corresponding first linear image sensor array 6 and 5 upslide movie queen of the second linear image sensor array
The imager coordinate arrived, and coordinate (x, y) is need to align the mobile motor coordinate of tool, is needed in practical application imager coordinate
(u, v) is converted to motor coordinate (x, y).
In embodiments of the present invention, it hints obliquely at transform method by following imager coordinate (u, v) is converted into motor coordinate
(x, y):
<x, y>=f (u, v)
According to the structural schematic diagram of Fig. 4, give:
Wherein w ' is zoom factor.
Introduce transformation matrix Hab, it is as follows:
Then:
p′b=Habpa
Namely:
In order to obtain the h in above-mentioned formula11-h33, tool need to be aligned by motor driving and be moved to 4 specified positions,
Namely calibration process such as the position of 4 dots in Fig. 4, while obtaining corresponding 4 groups<x,y>with<u,v>.
That is:
<x1,y1,w>T=H <u1,v1,1>
<x2,y2,w>T=H <u2,v2,1>
<x3,y3,w>T=H <u3,v3,1>
<x4,y4,w>T=H <u4,v4,1>
Particularly, h is enabled33=1, therefore 8 homogeneous equation groups can be listed by 4 equatioies above, h can be acquired11-h32
This 8 parameters.
Embodiment 3:
Please refer to Fig. 5.The embodiment of the present invention provides a kind of tool alignment method based on linear imaging sensor, comprising:
S101, the first point light source is set in bottom plate the first side wall, opposite third side wall setting is pressed by multiple images sensor
First linear image sensor array of linear array composition；
S102, the second point light source is set in bottom plate second sidewall, opposite 4th side wall setting is pressed by multiple images sensor
Second linear image sensor array of linear array composition；
S103, keep first linear image sensor array and second linear image sensor array in a vertical angle
Degree is separately positioned on the third side wall and the 4th side wall of the bottom plate；
Straight line that S104, setting first point light source and first linear image sensor array are linked to be and described the
The straight line that two point light sources are linked to be with second linear image sensor array intersects vertically；
S105, respectively the edge of first point light source and second point light source be arranged antiglare module, be respectively used to
It controls the light that first point light source issues and covers first linear image sensor array and the second point light
The light that source issues covers second linear image sensor array；
S106, control unit is set on bottom plate, receives the processing contraposition tool and passes through first point light source and institute
It states the cooperation of the first linear image sensor array and second point light source is matched with second linear image sensor array
Position coordinates are obtained through processing after imager coordinate when conjunction；
S107, sit the contraposition tool in the imaging of first linear image sensor array by the first point light source
Y axis coordinate is obtained after described control unit reception processing after mark；
S108, sit the contraposition tool in the imaging of second linear image sensor array by the second point light source
Processing, which is received, through described control unit after mark obtains X axis coordinate；
S109, make the contraposition tool move up and down with by the light of the first point light source and the second point light source covering (X,
Y) the intersection point of plane, obtains Z axis coordinate, and described control unit receives the definite position coordinates that processing obtains the contraposition tool
(X,Y,Z)。
Embodiment 4:
Please refer to Fig. 6.The embodiment of the present invention provides a kind of tool alignment method based on linear imaging sensor, in bottom plate
The first point light source is arranged in the first side wall, and the first linear image sensor array is arranged in opposite third side wall；In bottom plate second sidewall
Second point light source is set, and opposite 4th side wall is arranged the second linear image sensor array, first point light source and described the
The straight line and second point light source and second linear image sensor array that one linear image sensor array is linked to be connect
At straight line intersect vertically；Control unit is set on bottom plate, and described control unit receives the contraposition tool by described the
One point light source and first linear image sensor array cooperation and second point light source and second linear image
Position coordinates are obtained through processing after imager coordinate when sensor array cooperates；
The described method includes:
S10, the reception contraposition tool pass through the first point light source in the imaging of first linear image sensor array
Y axis coordinate is obtained after coordinate after processing；
S20, the reception contraposition tool pass through the second point light source in the imaging of second linear image sensor array
X axis coordinate is obtained through processing after coordinate；
S30, by the contraposition tool move up and down with by the light of the first point light source and the second point light source covering (X,
Y) the intersection point of plane obtains Z axis coordinate, obtains the definite position coordinates (X, Y, Z) of the contraposition tool.
In addition, the embodiment of the present invention also provides a kind of computer readable storage medium, the computer readable storage medium
On be stored with one or more program of tool alignment method, one or more program of the tool alignment method is located
The following steps of tool alignment method provided in an embodiment of the present invention are realized when reason device executes.
S10, the reception contraposition tool pass through the first point light source in the imaging of first linear image sensor array
Y axis coordinate is obtained after coordinate after processing；
S20, the reception contraposition tool pass through the second point light source in the imaging of second linear image sensor array
X axis coordinate is obtained through processing after coordinate；
S30, by the contraposition tool move up and down with by the light of the first point light source and the second point light source covering (X,
Y) the intersection point of plane obtains Z axis coordinate, obtains the definite position coordinates (X, Y, Z) of the contraposition tool.
It should be noted that the tool alignment method program embodiment and method on above-mentioned computer readable storage medium are real
It applies example and belongs to same design, specific implementation process is detailed in embodiment of the method, and the technical characteristic in embodiment of the method is above-mentioned
Corresponding in the embodiment of computer readable storage medium to be applicable in, which is not described herein again.
A kind of tool alignment method and its device provided in an embodiment of the present invention, comprising: in bottom plate the first side wall setting the
The first linear image sensor array is arranged in one point light source, opposite third side wall；In bottom plate second sidewall, the second point light source is set,
The second linear image sensor array is arranged in opposite 4th side wall；Control unit is set on bottom plate, receives the contraposition tool
Cooperated by first point light source and first linear image sensor array and second point light source and described the
Position coordinates are obtained through processing after imager coordinate when bilinear image sensor array cooperates.Embodiment through the invention,
It is simple and effective using the tool alignment device of the point light source and linear imaging sensor, quickly obtain the position that need to align tool
It sets, it can be achieved that fast automatic contraposition, greatly improves the precision and reliability of tool contraposition, also mentioned to bit rate
Height improves working efficiency, has the characteristics that simple and efficient to handle；The use for eliminating image lens, significantly reduces tool pair
The cost of position, reduces the operation of manual confirmation, automates system more, improve the working efficiency of machine indirectly；And it is right
Tool need to be aligned not require, will not damage need to align tool, prevent contingency and avoid unnecessary loss；Another party
Para postion coordinate directly is transmitted out by face, the present invention by control unit, no matching is required computer and transmission original graph
Picture, it is easy to use, work efficiency is high, at low cost, it has the value of popularization and application.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (12)
1. a kind of tool alignment method characterized by comprising
The first point light source is set in bottom plate the first side wall, the first linear image sensor array is arranged in opposite third side wall；The bottom of at
The second point light source is arranged in plate second sidewall, and the second linear image sensor array is arranged in opposite 4th side wall；
Control unit is set on bottom plate, receives the contraposition tool and passes through first point light source and first linear image
Imager coordinate when sensor array cooperation and second point light source and second linear image sensor array cooperate
Position coordinates are obtained by processing.
2. the method according to claim 1, wherein first point light source and the described first linear image sensing
The straight line that device array is linked to be phase vertical with the straight line that second linear image sensor array is linked to be with second point light source
It hands over.
3. the method according to claim 1, wherein first linear image sensor array and described second
Linear image sensor array is made of multiple images sensor by linear array respectively, and degree in a vertical angle is separately positioned on institute
State the third side wall and the 4th side wall of bottom plate.
4. method according to any one of claims 1 to 3, which is characterized in that described control unit receives the contraposition work
Tool by first point light source cooperate with first linear image sensor array and second point light source with it is described
Position coordinates are obtained through processing after imager coordinate when second linear image sensor array cooperates, comprising:
It receives the processing contraposition tool and passes through the first point light source in the imager coordinate of first linear image sensor array
After obtain Y axis coordinate；
It receives the processing contraposition tool and passes through the second point light source in the imager coordinate of second linear image sensor array
X axis coordinate is obtained by processing；
(X, Y) plane is covered with by the light of the first point light source and the second point light source by moving up and down for the contraposition tool
Intersection point obtains Z axis coordinate, obtains the position coordinates (X, Y, Z) of the contraposition tool.
5. the method according to claim 1, wherein the method may further comprise: in the first point light
Antiglare module is respectively set in source and the edge of second point light source, controls the light covering that first point light source issues respectively
It states the light that the first linear image sensor array and second point light source issue and covers second linear graph in residence
As sensor array.
6. a kind of tool alignment method characterized by comprising
It receives the processing contraposition tool and passes through the first point light source in the imager coordinate of first linear image sensor array
After obtain Y axis coordinate；
It receives the processing contraposition tool and passes through the second point light source in the imager coordinate of second linear image sensor array
X axis coordinate is obtained by processing；
(X, Y) plane is covered with by the light of the first point light source and the second point light source by moving up and down for the contraposition tool
Intersection point obtains Z axis coordinate, obtains the position coordinates (X, Y, Z) of the contraposition tool.
7. according to the method described in claim 6, it is characterized in that, first point light source is arranged in bottom plate the first side wall, institute
It states the first linear image sensor array and the bottom plate third side wall opposite with first point light source is set；Second point light source
In bottom plate second sidewall, the bottom plate opposite with second point light source the is arranged in second linear image sensor array for setting
Four side walls；The straight line and second point light source that first point light source and first linear image sensor array are linked to be with
The straight line that second linear image sensor array is linked to be intersects vertically.
8. a kind of tool alignment device applied to tool alignment method described in any one of claims 1 to 5, or is applied to
Tool alignment method described in any one of claim 6 to 7 characterized by comprising bottom plate, control unit, the first point light
Source, the second point light source, the first linear imaging sensor, the second linear imaging sensor；Wherein:
First point light source is arranged in the bottom plate the first side wall, and the first linear image sensing is arranged in opposite third side wall
Device；
Second point light source is arranged in the bottom plate second sidewall, and the second linear image sensing is arranged in opposite 4th side wall
Device；
Described control unit be arranged on the bottom plate, for receive the contraposition tool by first point light source with it is described
The cooperation of first linear image sensor array and second point light source and second linear image sensor array cooperate
When imager coordinate after through processing obtain position coordinates.
9. device according to claim 8, which is characterized in that first point light source and the described first linear image sensing
The straight line that device array is linked to be phase vertical with the straight line that second linear image sensor array is linked to be with second point light source
It hands over.
10. device according to claim 8, which is characterized in that first linear image sensor array and described
Bilinear image sensor array is made of multiple images sensor by linear array respectively, and degree in a vertical angle is separately positioned on
The third side wall and the 4th side wall of the bottom plate.
11. according to the described in any item devices of claim 8 to 10, which is characterized in that described control unit receives the contraposition
Tool passes through first point light source and first linear image sensor array cooperation and second point light source and institute
Position coordinates are obtained through processing after imager coordinate when stating the cooperation of the second linear image sensor array, comprising:
The contraposition tool is received to pass through after the imager coordinate of first linear image sensor array by the first point light source
Y axis coordinate is obtained after processing；
The contraposition tool is received to pass through after the imager coordinate of second linear image sensor array by the second point light source
Processing obtains X axis coordinate；
(X, Y) plane is covered with by the light of the first point light source and the second point light source by moving up and down for the contraposition tool
Intersection point obtains Z axis coordinate, obtains the position coordinates (X, Y, Z) of the contraposition tool.
12. device according to claim 8, which is characterized in that described device still further comprises antiglare module, the screening
Optical module is separately positioned on the edge of first point light source and second point light source, is respectively used to control at described first point
The light that light source issues covers the light that first linear image sensor array and second point light source issue and covers
Cover second linear image sensor array.
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| CN201810859033.XA CN109059760A (en) | 2018-07-31 | 2018-07-31 | A kind of tool alignment method and its device |
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| CN201810859033.XA CN109059760A (en) | 2018-07-31 | 2018-07-31 | A kind of tool alignment method and its device |
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