CN109283889A - A kind of vision positioning compensation method - Google Patents

A kind of vision positioning compensation method Download PDF

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Publication number
CN109283889A
CN109283889A CN201811108550.XA CN201811108550A CN109283889A CN 109283889 A CN109283889 A CN 109283889A CN 201811108550 A CN201811108550 A CN 201811108550A CN 109283889 A CN109283889 A CN 109283889A
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rotating platform
camera
translation
axis
calculating
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CN201811108550.XA
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CN109283889B (en
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谢伟
周峰
王敏
邓春保
熊发辉
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Guangdong Pumisi Vision Technology Co Ltd
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Guangdong Pumisi Vision Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34005—Motion control chip, contains digital filter as control compensator

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention relates to automatic positioning technology fields, refer in particular to a kind of vision positioning compensation method.It is further comprising the steps of: step 1: the product of camera scanning rotating platform and the contour line for extracting product including rotating platform and at least two cameras；Step 2: calculating the translation ratio and rotary proportional of each camera and rotating platform；Step 3: the product contour line that each camera extracts being calculated as translation XY according to translation ratio and rotary proportional conversion and rotates angle Angle；Step 4: entire compensation being carried out according to translation XY and rotation angle Angle and station compensates.The present invention can be realized the actual difference for quickly calculating actual product position and theoretical position, be compensated by calculated difference, to achieve the purpose that positioning compensation.

Description

A kind of vision positioning compensation method
Technical field
The present invention relates to automatic positioning technology fields, refer in particular to a kind of vision positioning compensation method.
Background technique
Currently, industrial products are many kinds of, in the production process of industrial products, all may relate to automatic positioning.Such as It requires printed, be bonded in automatic production line, each part is fast and accurately installed in place.
But there are also part processing factories to be also all positioned manually method or machinery positioning using traditional at present, the method exist with Lower disadvantage: (1) positioning single product, detection workman eyes are easy fatigue for a long time, and are easy to be influenced by mood, positioning knot Fruit is difficult to ensure；(2) machinery positioning requires mechanical precision high and complicated for operation.
With the development of science and technology, the requirement of market and user to the measure of precision and quality of product is higher and higher, it is traditional Localization method is no longer satisfied the demand of user, and therefore, improving positioning accuracy is industry urgent problem to be solved.
Summary of the invention
The present invention provides a kind of vision positioning compensation method for the above technical issues.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme: a kind of vision positioning compensation method, including Rotating platform and at least two cameras, further comprising the steps of:
Step 1: the product of camera scanning rotating platform and the contour line for extracting product；
Step 2: calculating the translation ratio and rotary proportional of each camera and rotating platform；
Step 3: the product contour line that each camera extracts is calculated as putting down according to translation ratio and rotary proportional conversion Move XY and rotation angle Angle；
Step 4: entire compensation being carried out according to translation XY and rotation angle Angle and station compensates.
Further, the translation of each camera and rotating platform and the specific steps of rotary proportional are calculated are as follows:
Step 2.1: presetting the numerical value of moveX, moveY and roAngle；
Step 2.2: rotating platform is moved to origin position and carries out acquisition reference line；
Step 2.3: control rotating platform moves along the direction of X-axis and obtains feature, calculates mobile xScale ratio；
Step 2.4: control rotating platform moves along the direction of Y-axis and obtains feature, calculates mobile yScale ratio；
Step 2.5: control rotating platform rotates under the driving of rotary shaft and obtains feature, calculates the mobile ratio of roScale Example.
Further, control rotating platform moves along the direction of X-axis and obtains feature, calculates the tool of mobile xScale ratio Body step are as follows:
Step 2.3.1: calculate rotating platform along the direction of X-axis move before reference line and image center line intersection point baseMidPt1；
Step 2.3.2: the intersection point curMidPt1 of reference line and center line after calculating rotating platform movement；
Step 2.3.3:X moving ratio calculation formula are as follows:
Further, control rotating platform moves along the direction of Y-axis and obtains feature, calculates the tool of mobile yScale ratio Body step are as follows:
Step 2.4.1: calculate rotating platform along the direction of Y-axis move before reference line and image center line intersection point baseMidPt2；
Step 2.4.2: the intersection point curMidPt2 of reference line and center line after calculating rotating platform movement；
Step 2.4.3:Y moving ratio calculation formula are as follows:
Further, control rotating platform rotates and obtains feature, calculates the specific steps of roScale moving ratio are as follows:
Step 2.5.1: the intersection point baseMidPt3 of reference line and image center line before calculating rotating platform rotation；
Step 2.5.2: the intersection point curMidPt3 of rotating platform postrotational reference line and center line is calculated；
Step 2.5.3:angle moving ratio calculation formula are as follows:
Further, the product contour line that each camera extracts is calculated as according to translation ratio and rotary proportional conversion It translates XY and rotates the specific steps of angle Angle are as follows:
Step 3.1: positioning the product contour line that each camera extracts；
Step 3.2: calculating the reference line of each camera and the intersection point baseMidPt4 of center line；
Step 3.3: calculating the intersection point curMidPt4 of product contour line and center line that each camera extracts；
Step 3.4: calculating each camera curMidPt4 and baseMidPt4 distance Dis；
Step 3.5: calculating rotation angle A, Y-axis deviant offectY and the X-axis deviant offectX of each camera.
Further, the specific steps packet of entire compensation and station compensation is carried out according to translation XY and rotation angle Angle It includes:
Step 4.1: according to actual product demand, user input data X1, Y1, Y2 and configuring product length proLen are obtained Out in the offset data X of X-axis, in the offset data Y and angle compensation data A of Y-axis.
It further, further include step 5: mechanical compensation.
Further, the rotating platform is turntable.
Beneficial effects of the present invention: the present invention can be realized the practical difference for quickly calculating actual product position and theoretical position Not, it is compensated by calculated difference, to achieve the purpose that positioning compensation.
Detailed description of the invention
Fig. 1 is the schematic view of the mounting position of camera of the present invention.
Fig. 2 is that rotating platform of the invention moves along the direction of X-axis and obtains the schematic diagram of feature.
Fig. 3 is that rotating platform of the invention moves along the direction of Y-axis and obtains the schematic diagram of feature.
Fig. 4 is that rotating platform of the invention rotates under the driving of rotary shaft and obtains the schematic diagram of feature.
The schematic diagram of the case where Fig. 5 is Y-axis of the present invention compensation and angle 1.
The schematic diagram of the case where Fig. 6 is Y-axis of the present invention compensation and angle 2.
The schematic diagram of the case where Fig. 7 is Y-axis of the present invention compensation and angle 3.
Appended drawing reference: 1- rotating platform；2- camera.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing Bright, the content that embodiment refers to not is limitation of the invention.The present invention is described in detail below in conjunction with attached drawing.
A kind of vision positioning compensation method provided by the invention, including rotating platform 1 and at least two cameras 2, wherein institute The quantity for stating camera 2 is 5, and the installation site of corresponding 1 top of rotating platform is as shown in Figure 1, every bit on the rotating platform 1 The corresponding coordinate of corresponding XY axis, the invention also includes following steps:
Step 1: camera 2 scans the product and Extracting contour of rotating platform 1；
Step 2: calculating translation and rotary proportional of each camera 2 with rotating platform 1；
Step 3: the product contour line that each camera 2 extracts is calculated into conversion according to translation ratio and rotary proportional conversion For translation XY and rotation angle Angle；
Step 4: entire compensation being carried out according to translation XY and rotation angle Angle and station compensates.
In a kind of vision positioning compensation method described in the present embodiment, calculate the translation of each camera 2 and rotating platform 1 with The specific steps of rotary proportional are as follows:
Step 2.1: presetting the numerical value of moveX, moveY and roAngle；Need to control product side when rotation at 5 In the intake image range of camera 2；
Step 2.2: rotating platform 1 is moved to origin position and carries out acquisition reference line；
Step 2.3: control rotating platform moves along the direction of X-axis and obtains feature, calculates mobile xScale ratio；
Step 2.4: control rotating platform moves along the direction of Y-axis and obtains feature, calculates mobile yScale ratio；
Step 2.5:: control rotating platform rotates under the driving of rotary shaft and obtains feature, calculates the mobile ratio of roScale Example.
As shown in Fig. 2, controlling rotating platform along the side of X-axis in a kind of vision positioning compensation method described in the present embodiment To the specific steps for moving and obtaining feature are as follows:
Step 2.3.1: calculate rotating platform along the direction of X-axis move before reference line and image center line intersection point baseMidPt1；
Step 2.3.2: the intersection point curMidPt1 of reference line and center line after calculating rotating platform movement；
Step 2.3.3:X moving ratio calculation formula are as follows:
Wherein, obtaining feature includes but is not limited to print to obtain to obtain with origin reference location, specifically, in printing product orientation When, acquisition is characterized in the profile side of product；In origin reference location, basis of reference feature is then to obtain entire product feature, comes Adjustment is compared.
As shown in figure 3, controlling rotating platform along the side of Y-axis in a kind of vision positioning compensation method described in the present embodiment To movement and feature is obtained, calculates the specific steps of mobile yScale ratio are as follows:
Step 2.4.1: calculate rotating platform along the direction of Y-axis move before reference line and image center line intersection point baseMidPt2；
Step 2.4.2: the intersection point curMidPt2 of reference line and center line after calculating rotating platform movement；
Step 2.4.3:Y moving ratio calculation formula are as follows:
As shown in figure 4, control rotating platform is rotated and is obtained in a kind of vision positioning compensation method described in the present embodiment Feature calculates the specific steps of roScale moving ratio are as follows:
Step 2.5.1: the intersection point baseMidPt3 of reference line and image center line before calculating rotating platform rotation；
Step 2.5.2: the intersection point curMidPt3 of rotating platform postrotational reference line and center line is calculated；
Step 2.5.3:angle moving ratio calculation formula are as follows:
5 cameras 2 are respectively designated as No. 1 camera, No. 2 cameras, No. 3 cameras, No. 4 cameras and No. 5 phases.Wherein, No. 3 cameras Central point X difference is taken with No. 5 cameras, No. 1 camera, No. 2 cameras and No. 4 cameras take central point Y difference.
In a kind of vision positioning compensation method described in the present embodiment, product contour line foundation that each camera is extracted Translation ratio and rotary proportional conversion are calculated as translation XY and rotate the specific steps of angle Angle are as follows:
Step 3.1: positioning the product contour line that each camera extracts；
Step 3.2: calculating the reference line of each camera and the intersection point baseMidPt4 of center line；
Step 3.3: calculating the intersection point curMidPt4 of product contour line and center line that each camera extracts；
Step 3.4: calculating each camera curMidPt4 and baseMidPt4 distance Dis；
Step 3.5: calculating rotation angle A, Y-axis deviant offectY and the X-axis deviant offectX of each camera.
Under be classified as one of them specific calculating process of the present embodiment, it is specific as follows: assuming that X-direction distance be TmpDisX, then corresponding No. 1 camera, No. 2 cameras and No. 4 camera displacements are reductionDis1X, reductionDis2X And reductionDis4X.
The numerical value of moveX, moveY and roAngle are preset, wherein moveX, moveY and roAngle are for calculating Translation ratio and rotary proportional, value is that user is preset, and the line that at this moment camera 2 extracts intersects with center line Intersection point and distance between reference are that Dis can derive formula: Dis=X1 × XS+Y1 × YS+Angle × AS.Wherein X1, Y1, Angle is respectively data when rotating platform 1 moves, and XS refers to the mobile xScale ratio i.e. X motion ratio of corresponding camera 2 Example, YS refer to the mobile yScale ratio i.e. Y motion ratio of corresponding camera 2, and AS refers to that the roScale of corresponding camera 2 is moved Dynamic ratio, that is, rotary motion ratio.
Therefore translation can show that (wherein Dis3 refers to the distance between reference of No. 3 cameras, No. 5 phases that Dis5 refers to following formula The distance between reference of machine):
ReductionDis1X=xScaleCam1 × tmpDisX；
ReductionDis2X=xScaleCam2 × tmpDisX；
ReductionDis4X=xSCaleCam4 × tmpDisX.
Therefore translation can obtain following formula, current No. 1 camera, No. 2 cameras and No. 4 camera intersection point distances subtract X-direction away from From tmpDisX, then No. 1 camera caused by corresponding, No. 2 cameras and No. 4 camera displacements are respectively as follows:
AfterReductionDis1Y=Dis1-reductionDis1X；
AfterReductionDis2Y=Dis2-reductionDis2X；
AfterReductionDis4Y=Dis1-reductionDis4X.
The X-axis moving ratio of 5 cameras 2 be respectively as follows: xScaleCam1, xScaleCam2, xScaleCam3, XScaleCam4 and xScaleCam5.
The Y-axis moving ratio of 5 cameras 2 be respectively as follows: yScaleCam1, yScaleCam2, yScaleCam3, YScaleCam4 and yScaleCam5.
The rotary proportional of 5 cameras 2 be respectively as follows: RotateYScale1, RotateYScale2, RotateXScale3, RotateYScale4 and RotateXScale5.
It calculates rotation angle A: 2 movement value of the 1st camera is converted into 2 movement value of second camera are as follows:
Be converted to 2 rotary proportional of first camera of second camera 2 are as follows:
Calculating Y-axis deviant offectY, (No. 1 camera, No. 2 cameras and the corresponding Y-direction amount of exercise of No. 4 cameras are averaged Obtain final Y-direction amount of exercise):
Calculate X-axis deviant (obtaining No. 3 cameras and the corresponding platform X-direction amount of exercise of No. 5 cameras): removal Y-axis is mobile And the average value offectX of No. 3 cameras and No. 5 cameras after rotation bring influence value:
In a kind of vision positioning compensation method described in the present embodiment, carried out according to translation XY and rotation angle Angle whole Body compensates and the specific steps of station compensation include:
Step 4.1: according to actual product demand, user input data X1, Y1, Y2 and configuring product length proLen are obtained Out in the offset data X of X-axis, in the offset data Y and angle compensation data A of Y-axis.
It is wherein input X in the offset data X of X-axis, has in the offset data Y and angle compensation data A of Y-axis following several Situation:
Situation 1 is as shown in Figure 5:
Y=| Y1 | < | Y2 |, Y1:Y2, wherein when: when Y1 is less than Y2:
When Y1 is greater than Y2:
Situation 2 is as shown in Figure 6:
| Y1 |=| Y2 |, then A=0；
| Y1 | ≠ | Y2 |, Y1 is that negative hour angle degree negates；
Situation 3 is as shown in Figure 7:
Y=0；Y1 is that 0, Y2 is negated greater than zero angle angle value；
Y2 is that 0, Y1 is negated less than zero angle angle value；
In a kind of vision positioning compensation method described in the present embodiment, step 5: mechanical compensation；The wherein tool of mechanical compensation Body step includes:
Step 5.1: extracting the reference line of each camera of benchmark station；
Step 5.2: extracting the correspondence line of the compensation each camera of station；
Step 5.3: the deviant of calculating benchmark line and corresponding line；
Step 5.4: calculating the reference line of each camera and the intersection point baseMidPt of center line；
Step 5.5: calculating the intersection point curMidPt of each camera boundary line and center line；
Step 5.6: calculating each camera curMidPt and baseMidPt distance Dis；
Step 5.7: the process of step 3 is consistent.
In a kind of vision positioning compensation method described in the present embodiment, the camera 2 is CCD camera 2, but is not limited to CCD camera 2 is also possible to the camera 2 of other models.
In a kind of vision positioning compensation method described in the present embodiment, the rotating platform 1 is turntable.
The above is only present pre-ferred embodiments, is not intended to limit the present invention in any form, although The present invention is disclosed as above with preferred embodiment, and however, it is not intended to limit the invention, any person skilled in the art, It does not depart within the scope of technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to equivalent change The equivalent embodiment of change, but without departing from the technical solutions of the present invention, technology refers to above embodiments according to the present invention Made any simple modification, equivalent change and modification, belong in the range of technical solution of the present invention.

Claims (9)

1. a kind of vision positioning compensation method, including rotating platform and at least two cameras, it is characterised in that: further include following step It is rapid:
Step 1: the product of camera scanning rotating platform and the contour line for extracting product；
Step 2: calculating the translation ratio and rotary proportional of each camera and rotating platform；
Step 3: the product contour line that each camera extracts is calculated as translation XY according to translation ratio and rotary proportional conversion And rotation angle Angle；
Step 4: entire compensation being carried out according to translation XY and rotation angle Angle and station compensates.
2. a kind of vision positioning compensation method according to claim 1, it is characterised in that: calculate each camera and rotary flat The translation of platform and the specific steps of rotary proportional are as follows:
Step 2.1: presetting the numerical value of moveX, moveY and roAngle；
Step 2.2: rotating platform is moved to origin position and carries out acquisition reference line；
Step 2.3: control rotating platform moves along the direction of X-axis and obtains feature, calculates mobile xScale ratio；
Step 2.4: control rotating platform moves along the direction of Y-axis and obtains feature, calculates mobile yScale ratio；
Step 2.5: control rotating platform rotates under the driving of rotary shaft and obtains feature, calculates roScale moving ratio.
3. a kind of vision positioning compensation method according to claim 2, it is characterised in that: control rotating platform is along X-axis Direction is mobile and obtains feature, calculates the specific steps of mobile xScale ratio are as follows:
Step 2.3.1: calculate rotating platform along the direction of X-axis move before reference line and image center line intersection point baseMidPt1；
Step 2.3.2: the intersection point curMidPt1 of reference line and center line after calculating rotating platform movement；
Step 2.3.3:X moving ratio calculation formula are as follows:
4. a kind of vision positioning compensation method according to claim 2, it is characterised in that: control rotating platform is along Y-axis Direction is mobile and obtains feature, calculates the specific steps of mobile yScale ratio are as follows:
Step 2.4.1: calculate rotating platform along the direction of Y-axis move before reference line and image center line intersection point baseMidPt2；
Step 2.4.2: the intersection point curMidPt2 of reference line and center line after calculating rotating platform movement；
Step 2.4.3:Y moving ratio calculation formula are as follows:
。
5. a kind of vision positioning compensation method according to claim 2, it is characterised in that: control rotating platform is rotated and obtained Feature is taken, the specific steps of roScale moving ratio are calculated are as follows:
Step 2.5.1: the intersection point baseMidPt3 of reference line and image center line before calculating rotating platform rotation；
Step 2.5.2: the intersection point curMidPt3 of rotating platform postrotational reference line and center line is calculated；
Step 2.5.3:angle moving ratio calculation formula are as follows:
6. a kind of vision positioning compensation method according to claim 1, it is characterised in that: the production for extracting each camera Product contour line is calculated as translation XY according to translation ratio and rotary proportional conversion and rotates the specific steps of angle Angle are as follows:
Step 3.1: positioning the product contour line that each camera extracts；
Step 3.2: calculating the reference line of each camera and the intersection point baseMidPt4 of center line；
Step 3.3: calculating the intersection point curMidPt4 of product contour line and center line that each camera extracts；
Step 3.4: calculating each camera curMidPt4 and baseMidPt4 distance Dis；
Step 3.5: calculating rotation angle A, Y-axis deviant offectY and the X-axis deviant offectX of each camera.
7. a kind of vision positioning compensation method according to claim 1, it is characterised in that: according to translation XY and rotation angle Angle carries out entire compensation and the specific steps of station compensation include:
Step 4.1: according to actual product demand, user input data X1, Y1, Y2 and configuring product length proLen are obtained in X The offset data X of axis, in the offset data Y and angle compensation data A of Y-axis.
8. a kind of vision positioning compensation method according to claim 6, it is characterised in that: further include step 5: machinery is mended It repays.
9. a kind of vision positioning compensation method according to claim 1, it is characterised in that: the rotating platform is turntable.
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