CN109523580A - A kind of calculation method of image capture module, image capture module and sorting system - Google Patents
A kind of calculation method of image capture module, image capture module and sorting system Download PDFInfo
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- CN109523580A CN109523580A CN201811528294.XA CN201811528294A CN109523580A CN 109523580 A CN109523580 A CN 109523580A CN 201811528294 A CN201811528294 A CN 201811528294A CN 109523580 A CN109523580 A CN 109523580A
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- datum mark
- image capture
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
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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
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Abstract
The invention discloses a kind of calculation method of image capture module, image capture module and sorting systems, are related to Material Sorting technical field.The calculation method of the image capture module is the following steps are included: S1: the position that acquisition workpiece marks on the real image and the workpiece on designated position；S2: the real image of acquisition is matched with preset standard picture；S3: the position deviation of the label is calculated.In the calculation method of the image capture module, by the way that the real image acquired is matched with standard picture, the position deviation between the physical location of workpiece and normal place can be calculated, to facilitate mechanism for sorting to obtain the accurate location information of workpiece, and position is adjusted according to position deviation, improve the accuracy of mechanism for sorting grabbing workpiece.
Description
Technical field
The present invention relates to Material Sorting technical fields more particularly to a kind of calculation method of image capture module, image to adopt
Collect module and sorting system.
Background technique
In the development process of modern manufacturing industry, in order to improve the production efficiency, time and cost, the positive court of manufacturing equipment are saved
Intelligent, integrated direction develop.Need to carry the workpiece of various shape, specification in the workshop of steel industry field,
To carry out different processing.It is generally realized by sorting manipulator currently, carrying steel workpiece.Sorting manipulator receives instruction
Afterwards, designated position is moved to sort workpiece, carry.But since position is likely to occur deviation to workpiece in transmit process,
There are deviation between the physical location and designated position of workpiece, cause sorting manipulator can not accurate grabbing workpiece, to occur
The problem of leakage is picked up or is grabbed loosely.
Summary of the invention
An object of the present invention is to provide a kind of calculation method of image capture module, the position of available workpiece
Deviation is high to the accuracy of identification of the location of workpiece.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of calculation method of image capture module, comprising the following steps:
S1: the position that acquisition workpiece marks on the real image and the workpiece on designated position；
S2: the real image of acquisition is matched with preset standard picture；
S3: the position deviation of the label is calculated.
Wherein, in step s3, the position deviation includes translational movement a and X deflection angle.
Wherein, in step s3, the translational movement a for calculating the label is specifically included:
Choosing on the label is a little the first datum mark；
The first datum mark and the label in the standard picture for calculating the label in the real image
The distance between first datum mark.
Wherein, in step s3, the X deflection angle for calculating the label specifically includes:
By the of the label in the first datum mark of the label in the standard picture and the real image
One datum mark is overlapped；
Choose the first reference line for passing through first datum mark in label；
Calculate first reference line in the real image and first reference line in the standard picture
Angle α, the angle α are X deflection angle.
Wherein, the angle α is calculated to specifically include:
The second datum mark is chosen on first reference line；
Coordinate, the standard drawing of second datum mark in the real image are obtained in the same coordinate system respectively
The coordinate of second datum mark as in and the coordinate of first datum mark；
The calculation formula of the angle α are as follows:
Wherein, (X1, Y1) is the coordinate of the second datum mark in real image；(X2, Y2) is the second benchmark in standard picture
The coordinate of point；(X0, Y0) is the coordinate of the first datum mark.
Wherein, in step s3, the position deviation further includes the inclination angle beta of the workpiece relative level.
Wherein, in step s3, the inclination angle beta for calculating the workpiece specifically includes:
Choose the second reference line in the label；
Described in the length and the standard picture of second reference line in the real image is obtained respectively
The length of two reference lines；
The calculation formula of the inclination angle beta are as follows:
Wherein, H ' is the length of the second reference line in real image；H is the length of the second reference line in standard picture
Degree.
It is another object of the present invention to propose a kind of image capture module, the position deviation of available workpiece is right
The accuracy of identification of the location of workpiece is high.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of image capture module, comprising:
Camera, the camera are used to acquire the image of workpiece；And
Image processing circuit plate, described image processing circuit plate are connect with the camera, for calculating the workpiece
The position deviation of label.
Another object of the present invention is to propose a kind of sorting system, accuracy of identification of the sorting system to the location of workpiece
Height is conducive to improve sorting effect.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of sorting system, including mechanism for sorting, the sorting system further include above-mentioned image capture module, and described point
Mechanism is picked to be electrically connected with described image acquisition module.
The utility model has the advantages that the present invention provides a kind of calculation method of image capture module, image capture module and sorting systems
System.In the calculation method of the image capture module, by matching the real image acquired with standard picture, it can calculate and go to work
Position deviation between the physical location and normal place of part, thus facilitate the accurate location information of mechanism for sorting acquisition workpiece,
And position is adjusted according to position deviation, improve the accuracy of mechanism for sorting grabbing workpiece.
Detailed description of the invention
Fig. 1 is the schematic diagram of preset standard picture in the calculation method of image capture module provided by the invention；
Fig. 2 is the schematic diagram of real image that obtains in the calculation method of image capture module provided by the invention；
Fig. 3 is showing after real image is matched with standard picture in the calculation method of image capture module provided by the invention
It is intended to；
Fig. 4 is schematic diagram of Fig. 3 Plays image according to translational movement after mobile；
Fig. 5 is the schematic diagram after Fig. 4 Plays image is deflected according to X deflection angle；
Fig. 6 is the schematic diagram that tilt angle is calculated in the present invention.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below
In conjunction with attached drawing and pass through specific embodiment to further illustrate the technical scheme of the present invention.
A kind of sorting system is present embodiments provided, can be used for sorting and carrying to workpiece.Specifically, sorting system
Including rack, sorting trolley and control system, control system is electrically connected with sorting trolley.Sort trolley hanging on the rack, and
Positioned at the top of supply line.Supply line is for transporting workpiece to be sorted.Sorting trolley is for grabbing material, and sorting trolley can
It with front and rear, left and right, moves up and down, to grab the material of different location on supply line, and material is placed into designated position.
When sorting system works, it (can be a upper station for sorting system, such as can be with that control system, which will receive host computer,
For cutting machine) composition information, and by the composition information control sorting trolley be moved to designated position, grab designated position
Workpiece realizes the sorting of workpiece.
Since workpiece on supply line when transporting, the position of workpiece is likely to occur deviation, such as horizontal translation or horizontal inclined
Turn, when mechanism for sorting is moved to designated position according to composition information, the manipulator of mechanism for sorting and the physical location of workpiece are deposited
In deviation, cause mechanism for sorting can not accurate grabbing workpiece, influence to sort effect.
To solve the above problems, sorting system further includes image capture module, which can calculate fortune
The deviation between normal place on defeated line in the physical location and composition information of workpiece, and control and sort according to the position deviation
The position of institutional adjustment manipulator guarantees the position precision of manipulator and workpiece, keeps mechanism for sorting grabbing workpiece more stable, mention
High sorting efficiency.Optionally, image capture module can be set on the rack, also can be set on sorting trolley, as long as energy
Enough obtain the image information of workpiece to be captured.
Specifically, image capture module includes camera and image processing circuit plate.Image processing circuit plate and camera
Connection, the position deviation between the normal place in physical location and composition information for calculating workpiece.Image processing circuit
Plate is electrically connected with mechanism for sorting, for the position deviation of calculating to be sent in the control system of mechanism for sorting, is to control
System can be avoided the occurrence of according to the position that the position deviation adjusts manipulator to guarantee the position precision of manipulator and workpiece
Leakage picks or grabs the problems such as unstable.
The present embodiment additionally provides the calculation method of image capture module.Specifically, image capture module passes through camera
The real image of workpiece specified location on supply line is acquired, and real image is sent to image processing circuit plate.Image
After processing circuit plate receives real image, real image is matched with preset standard picture.Wherein, standard picture is
Reach the image information of specified location for workpiece in composition information.Real image, which match with standard picture, actually to scheme
As being overlapped with standard picture, to calculate the position deviation between the physical location of workpiece and composition information Plays position.
In the present embodiment, the position deviation of workpiece includes translational movement a and X deflection angle.For convenience of the position for calculating workpiece
Deviation is set, shallow-layer label, such as cross or " 4 " font has can be set in the surface of workpiece.Calculate the position deviation of workpiece then
It could alternatively be the position deviation for calculating label.In the present embodiment, it is introduced by taking " 4 " font label as an example.
Fig. 1 is the schematic diagram marked in standard picture, and Fig. 2 is the schematic diagram marked in real image, according to Fig. 1 and Fig. 2
It is found that planar movement and deflection has occurred in the physical location of workpiece on the transmission line.
When calculating the translational movement a of workpiece, choosing on the label of workpiece is a little the first datum mark, by real image and
After standard picture is overlapped, the position of the first datum mark on the first datum mark and standard picture on real image is compared, two first
The distance between datum mark is translational movement a.For convenience of the position for adjusting manipulator according to translational movement a, translational movement a can be arrow
Amount, the direction of the vector are the direction by the first datum mark on the first datum mark to real image on standard picture, size
For the distance between two first datum marks.
Specifically, in the present embodiment, selected point O (O ') is used as the first datum mark, when standard picture and real image are overlapped
Afterwards, as shown in figure 3,The as translational movement a of workpiece.
It since workpiece on supply line when transporting, can not only translate, can also rotate in the horizontal plane, that is, generate certain
Horizontal deflection angle, therefore, it is also desirable to the horizontal deflection angle of workpiece be calculated, to guarantee the position precision of workpiece and manipulator.
When calculating the X deflection angle of workpiece, as shown in figure 4, can be first by the label in standard picture according to translation
It is mobile to measure a, so that the first datum mark O ' marked in the first datum mark O and real image of the label in standard picture is overlapped.
Later, it chooses in label by a line of the first datum mark as the first reference line, calculates the first reference line in real image
With the angle α of the first reference line in standard picture, which is the X deflection angle of workpiece.In the present embodiment, AD is chosen
(A ' D ') is the first reference line, then the angle α between AD and A ' D ' is X deflection angle.
Specifically, when calculating angle α, can choose on the first reference line is a little the second datum mark, respectively same
The coordinate of the coordinate (X1, Y1) of the second datum mark in real image, the second datum mark in standard picture is obtained in coordinate system
The coordinate (X0, Y0) of (X2, Y2) and the first datum mark.The value of angle α can be calculated according to trigonometric function.Wherein, angle α
Calculation formula are as follows:
Wherein, coordinate system can be the coordinate system constructed by origin of the first datum mark.In the present embodiment, the second datum mark
It can be chosen for A (A '), and establish coordinate system using O point as origin, wherein the X-axis of coordinate system can be overlapped with BC, coordinate system
Y-axis can be overlapped with AD, so as to simplify the calculation formula of angle α are as follows:
Since the surface of supply line is not necessarily smooth, for workpiece when transporting on supply line, workpiece is also possible to relative level
With certain inclination angle beta, so that the surface of workpiece tilts.When the manipulator used fixes workpiece to pass through vacuum suction
When structure, if there are certain angles on the surface of the adsorption plane of manipulator and workpiece, the adsorption effect of workpiece will affect, thus
It can not achieve the sorting to workpiece.
To solve the above problems, the position deviation in the present embodiment can also include the tilt angle of workpiece relative level
β。
Specifically, it when calculating the inclination angle beta of workpiece, needs to choose the second reference line in the markers, wherein the second benchmark
Line can be identical as the first reference line, can also be different, and does not influence the calculating of inclination angle beta.In the present embodiment, the second benchmark
Line selection is AO (A ' O ').As shown in figure 5, obtaining the length of the second reference line in real image respectively after choosing the second reference line
The length H of second reference line in H ' and standard picture then shows that workpiece relative level tilts when H ' is less than H.For convenience of right
Than the size of H and H ', real image can be rotated according to calculated angle a, so that the second reference line in standard picture
AO is overlapped with the second reference line A ' O ' in real image.
In the present embodiment, inclination angle beta can be calculated according to trigonometric function.Specifically, as shown in fig. 6, with standard
The length H of the second reference line is that radius does circle in image, draws auxiliary line ef later, the distance between auxiliary line ef and the center of circle are
Actual range H ' connects the center of circle and e point, does the line segment perpendicular to auxiliary line ef by the center of circle, then the straight line between the center of circle and e point with
Angle between the line segment is the inclination angle beta of workpiece relative level.Wherein, the calculation formula of inclination angle beta is as follows:
Inclination angle beta obtained by calculation can control the absorption surface inclination of manipulator formation, so that absorption surface
It is parallel with the surface of workpiece, to realize that adsorption plane is contacted with the good of workpiece surface.
In the present embodiment, in real image in the length H ' and standard picture of the second reference line the second reference line length H
It can be calculated by the coordinate of the endpoint in the second reference line in the same coordinate system.With the second base in real image
For directrix, if the extreme coordinates at the second reference line both ends are respectively A ' (X3, Y3), O ' (X4, Y4), then the calculation formula of H ' is such as
Under:
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (9)
1. a kind of calculation method of image capture module, which comprises the following steps:
S1: the position that acquisition workpiece marks on the real image and the workpiece on designated position；
S2: the real image of acquisition is matched with preset standard picture；
S3: the position deviation of the label is calculated.
2. the calculation method of image capture module as described in claim 1, which is characterized in that in step s3, the position
Deviation includes translational movement a and X deflection angle.
3. the calculation method of image capture module as claimed in claim 2, which is characterized in that in step s3, described in calculating
The translational movement a of label is specifically included:
Choosing on the label is a little the first datum mark；
Calculate the first datum mark and first of the label in the standard picture of the label in the real image
The distance between datum mark.
4. the calculation method of image capture module as claimed in claim 2, which is characterized in that in step s3, described in calculating
The X deflection angle of label specifically includes:
By the first base of the label in the first datum mark of the label in the standard picture and the real image
It is overlapped on schedule；
Choose the first reference line for passing through first datum mark in label；
Calculate the angle of first reference line in the real image and first reference line in the standard picture
α, the angle α are X deflection angle.
5. the calculation method of image capture module as claimed in claim 4, which is characterized in that calculate the angle α and specifically wrap
It includes:
The second datum mark is chosen on first reference line；
The coordinate of second datum mark in the real image is obtained in the same coordinate system respectively, in the standard picture
Second datum mark coordinate and first datum mark coordinate；
The calculation formula of the angle α are as follows:
Wherein, (X1, Y1) is the coordinate of the second datum mark in real image；(X2, Y2) is the second datum mark in standard picture
Coordinate；(X0, Y0) is the coordinate of the first datum mark.
6. the calculation method of image capture module as claimed in claim 2, which is characterized in that in step s3, the position
Deviation further includes the inclination angle beta of the workpiece relative level.
7. the calculation method of image capture module as claimed in claim 6, which is characterized in that in step s3, described in calculating
The inclination angle beta of workpiece specifically includes:
Choose the second reference line in the label；
Second base in the length and the standard picture of second reference line in the real image is obtained respectively
The length of directrix；
The calculation formula of the inclination angle beta are as follows:
Wherein, H ' is the length of the second reference line in real image；H is the length of the second reference line in standard picture.
8. a kind of image capture module characterized by comprising
Camera, the camera are used to acquire the image of workpiece；And
Image processing circuit plate, described image processing circuit plate are connect with the camera, are marked on the workpiece for calculating
Position deviation.
9. a kind of sorting system, including mechanism for sorting, which is characterized in that the sorting system further includes as claimed in claim 8
Image capture module, the mechanism for sorting is electrically connected with described image acquisition module.
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| CN110726398A (en) * | 2019-10-22 | 2020-01-24 | 浙江煤炭测绘院有限公司 | Method for positioning remote sensing mapping image of natural resource |
| CN111552231A (en) * | 2020-04-03 | 2020-08-18 | 中国航发哈尔滨东安发动机有限公司 | Single machine calculation-free point automatic alignment processing method |
| CN111812545A (en) * | 2020-07-07 | 2020-10-23 | 苏州精濑光电有限公司 | Line defect detection method, device, equipment and medium |
| CN112238032A (en) * | 2020-09-04 | 2021-01-19 | 上海尧崇智能科技有限公司 | Gluing path generation method, device and system and computer-readable storage medium |
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