CN109550649B - Dispensing positioning method and device based on machine vision - Google Patents
Dispensing positioning method and device based on machine vision Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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Abstract
The invention discloses a dispensing positioning method and a dispensing positioning device based on machine vision, which relate to the technical field of dispensing and comprise the following steps: when the dispensing platform rotates to a horizontal dispensing surface, the vision camera is controlled to move to the reference point position of the dispensing surface and corresponding image data is obtained; determining the actual image coordinates of the workpiece to be subjected to dispensing according to the image data, and determining the space offset according to the coordinates of the actual image and the coordinates of the reference point; when the dispensing platform rotates for an angle and performs dispensing, the compensation quantity in the three-axis direction of the dispensing platform is calculated according to the space offset, and the actual dispensing position of the dispensing platform is determined by compensating the compensation quantity in the three-axis direction. The embodiment has good positioning precision, reduces the cost, has simple and convenient dispensing steps, and improves the dispensing efficiency in the production process.
Description
Technical Field
The invention relates to the technical field of dispensing, in particular to a dispensing positioning method and device based on machine vision.
Background
With the progress of machine vision technology, image vision systems are widely applied in the product production field, such as: the product dispensing method comprises the steps of selecting a shape with obvious characteristics as a positioning object of a camera, comparing the shape with a preset template position to obtain an offset, and compensating the dispensing position.
However, the dispensing platform of the dispensing method is a plane, and the dispensing position can only complete compensation on the plane; when the dispensing platform rotates to a certain angle, the dispensing method cannot meet the production requirement, and at the moment, a height sensor is required to be added to measure the height of the platform.
Therefore, the method for positioning the adhesive in the prior art has the following defects: high cost, complicated steps and low efficiency.
Disclosure of Invention
The invention aims to provide a dispensing positioning method and device based on machine vision aiming at the technical problems in the prior art, and mainly solves the problems of high cost, complicated steps and low efficiency of the dispensing positioning method in the prior art.
In order to solve the problems proposed above, the technical scheme adopted by the invention is as follows:
the invention provides a machine vision-based dispensing positioning method, which comprises the following steps:
when the dispensing platform rotates to a horizontal dispensing surface, the vision camera is controlled to move to the datum point position of the dispensing surface and corresponding image data are obtained, wherein the datum point position is the Mark point position of the dispensing surface of the workpiece to be dispensed and is used for a machine welding positioning point; the image data is an orthographic projection image of the workpiece to be subjected to glue dispensing, which is acquired by the vision camera on the glue dispensing platform;
determining the actual image coordinates of the workpiece to be subjected to dispensing according to the image data, and determining the space offset according to the coordinates of the actual image and the coordinates of the reference point;
when dispensing is performed after the dispensing platform rotates for an angle, calculating compensation quantities in three axis directions of the dispensing platform according to the space offset, and determining the actual dispensing position of the dispensing platform by compensating the compensation quantities in the three axis directions;
as a further improvement of the present invention, the method further comprises: and determining a rotation angle of the dispensing platform relative to the reference point in space, and respectively calculating compensation in the three-axis direction of the dispensing platform according to the space offset and the rotation angle.
As a further improvement of the present invention, the calculating the compensation amounts in the three-axis direction of the dispensing platform according to the spatial offset and the rotation angle respectively includes:
establishing a spatial rectangular coordinate system R, setting the coordinates of the reference point in the spatial rectangular coordinate system R as (Xm, Ym, Zm), setting the coordinates of the actual image of the camera in the spatial rectangular coordinate system R as (Xc, Yc, Zc), setting the offset of the dispensing platform in the three-axis direction as DeltaX, DeltaY and DeltaZ, and setting the distance between the position of the reference point and the position of the actual image as DeltaL, wherein the method comprises the following calculation formula:
△X＝Xc-Xm，
△Y＝Yc-Ym，
△Z＝Zc-Zm，
calculating the deviation of the reference point position and the actual image position in the X-axis direction and the Y-axis direction as dx and dy respectively, then:
dx＝△L*cos(△Z)-△L，
dy＝△Y+△L*sin(△Z)；
determining a rotation angle of the dispensing platform relative to the reference point in space as theta, and calculating compensation quantities in the three-axis direction of the dispensing platform according to the values of dx, dy and theta as offset x, offset y and offset z respectively, then:
OffsetX＝dx，
OffsetY＝dy*cos(θ/180)，
OffsetZ＝dy*sin(θ/180)。
as a further improvement of the present invention, θ is any one angle after the dispensing platform rotates with the Y axis as a rotation center, and the rotation angle θ is measured by a goniometer.
The invention also provides a dispensing positioning device based on machine vision, which comprises a vision camera, a dispensing platform, a processing module and a mechanical device for controlling the movement of the vision camera;
the dispensing platform is used for placing a workpiece to be dispensed;
when the dispensing platform rotates to a horizontal dispensing surface, the vision camera moves to a reference point position of the dispensing surface under the control of the mechanical device to obtain corresponding image data, wherein the reference point position is a Mark point position of the dispensing surface of a workpiece to be dispensed and is used for machine welding positioning; the image data is an orthographic projection image of the workpiece to be subjected to glue dispensing, which is acquired by the vision camera on the glue dispensing platform;
the processing module is used for determining the actual image coordinates of the workpiece to be subjected to glue dispensing according to the image data acquired by the vision camera, determining the space offset according to the coordinates of the actual image and the coordinates of the reference point, calculating the compensation quantity in the three-axis direction of the glue dispensing platform according to the space offset, and determining the actual glue dispensing position of the glue dispensing platform by compensating the compensation quantity in the three-axis direction.
As a further improvement of the present invention, the processing module is further configured to: and determining a rotation angle of the dispensing platform relative to the reference point in space, and respectively calculating compensation in the three-axis direction of the dispensing platform according to the space offset and the rotation angle.
As a further improvement of the present invention, the processing module is specifically configured to:
establishing a spatial rectangular coordinate system R, setting the coordinates of the reference point in the spatial rectangular coordinate system R as (Xm, Ym, Zm), setting the coordinates of the actual image of the camera in the spatial rectangular coordinate system R as (Xc, Yc, Zc), setting the offset of the dispensing platform in the three-axis direction as DeltaX, DeltaY and DeltaZ, and setting the distance between the position of the reference point and the position of the actual image as DeltaL, wherein the method comprises the following calculation formula:
△X＝Xc-Xm，
△Y＝Yc-Ym，
△Z＝Zc-Zm，
calculating the deviation of the reference point position and the actual image position in the X-axis direction and the Y-axis direction as dx and dy respectively, then:
dx＝△L*cos(△Z)-△L，
dy＝△Y+△L*sin(△Z)；
determining a rotation angle of the dispensing platform relative to the reference point in space as theta, and calculating compensation quantities in the three-axis direction of the dispensing platform according to the values of dx, dy and theta as offset x, offset y and offset z respectively, then:
OffsetX＝dx，
OffsetY＝dy*cos(θ/180)，
OffsetZ＝dy*sin(θ/180)。
as a further improvement of the present invention, θ is any one angle after the dispensing platform rotates with the Y axis as a rotation center, and the rotation angle θ is measured by a goniometer.
Compared with the prior art, the invention has the beneficial effects that:
in the method and the device for positioning adhesive dispensing based on machine vision, the position of an actual image is captured by a vision camera and compared with the position of a reference point, so as to obtain the spatial offset between the actual image and the reference point, the deviation of the adhesive dispensing position is calculated, the compensation quantity in the three-axis direction of an adhesive dispensing platform is calculated by combining the rotation angle of the adhesive dispensing platform, and the actual adhesive dispensing position of the adhesive dispensing platform is determined by compensating the compensation quantity in the three-axis direction; the dispensing positioning method is used for positioning the dispensing position, has good positioning precision, reduces the cost, and has simple and convenient dispensing steps, thereby improving the dispensing efficiency in the production process.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart illustrating steps of a method for positioning a dispensing point based on machine vision according to an embodiment of the present invention;
fig. 2 is a schematic coordinate diagram of a machine vision-based dispensing positioning method according to an embodiment of the present invention;
fig. 3 is a schematic block diagram of a machine vision based dispensing positioning apparatus according to an embodiment of the present invention.
Reference numerals: 100-a visual camera; 200-dispensing platform; 300-a processing module; 400-mechanical means.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely illustrative of some, but not all, of the embodiments of the invention, and that the preferred embodiments of the invention are shown in the drawings. This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present disclosure is set forth in order to provide a more thorough understanding thereof. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Example one
Referring to fig. 1, a flowchart illustrating steps of a method for positioning a dispensing point based on machine vision according to an embodiment of the present invention includes the following steps:
s100: and when the dispensing platform rotates to a horizontal dispensing surface, controlling the vision camera to move to the reference point position of the dispensing surface and acquiring corresponding image data.
When the dispensing platform rotates to a horizontal dispensing surface, the vision camera is controlled to move to a reference point position of the dispensing surface, wherein the reference point position is a Mark point position of the dispensing surface of the workpiece to be dispensed, namely a point for machine welding positioning; at this time, referring to a coordinate schematic diagram of the dispensing positioning method shown in fig. 2, a spatial rectangular coordinate system R is established in a space between a vision camera and a dispensing platform, the vision camera is arranged in a Z-axis direction of the spatial rectangular coordinate system R, the dispensing platform is arranged in a Y-axis direction of the spatial rectangular coordinate system R, and the vision camera is arranged above the dispensing platform; in this embodiment, coordinate values of the positions of the reference points are obtained, and coordinates of the reference points in a space rectangular coordinate system R are set to be (Xm, Ym, Zm); meanwhile, the vision camera acquires corresponding image data, wherein the image data is an orthographic projection image P1 of the workpiece to be subjected to glue dispensing, acquired by the vision camera on the glue dispensing platform.
In the embodiment of the invention, when the vision camera acquires the corresponding image data, the accuracy of the image data is improved when the dispensing platform is in a horizontal state.
S200: and determining the actual image coordinate of the workpiece to be subjected to dispensing according to the image data, and determining the space offset according to the coordinate of the actual image and the coordinate of the reference point.
As shown in fig. 2, a camera coordinate system Rc is established with the internal space of the vision camera; when the vision camera acquires image data, the vision camera determines coordinates of an actual image of the workpiece to be dispensed in the camera coordinate system Rc according to the image data, and converts the coordinates of the actual image in the camera coordinate system Rc into coordinates in a spatial rectangular coordinate system R, so as to acquire the coordinates of the actual image, wherein the coordinates of the actual image in the spatial rectangular coordinate system R are set to be (Xc, Yc, Zc).
Optionally, the coordinate conversion in the visual camera may be implemented by software carried by the visual camera, or may be implemented by other computer software.
In an embodiment of the present invention, a spatial offset may be determined according to the coordinates of the actual image and the coordinates of the reference point, that is, the offset in the three-axis direction of the dispensing platform is set as Δ X, Δ Y, and Δ Z, and meanwhile, a distance between the position of the reference point and the position of the actual image is also determined as Δ L; specifically, the coordinates (Xc, Yc, Zc) of the actual image and the coordinates (Xm, Ym, Zm) of the reference point are combined, and the values of Δ X, Δ Y, Δ Z, and Δ L are calculated by the following formulas:
△X＝Xc-Xm (1)，
△Y＝Yc-Ym (2)，
△Z＝Zc-Zm (3)，
s300: when the dispensing platform rotates for an angle and performs dispensing, the compensation quantity in the three-axis direction of the dispensing platform is calculated according to the space offset, and the actual dispensing position of the dispensing platform is determined by compensating the compensation quantity in the three-axis direction.
The dispensing platform described in this embodiment is a rotatable platform, the rotatable platform can rotate at will by a certain angle with the Y axis as the rotation center, the rotation angle in this embodiment is set as θ, and the rotation angle θ is measured by an angle ruler; in other embodiments of the present invention, the rotatable platform may rotate by a certain angle with any axis of the spatial rectangular coordinate system R as a rotation center according to an actual dispensing requirement, and the rotation angle θ may also be measured by other methods, which is not limited in this embodiment.
In this step, when the dispensing platform rotates by an angle θ, the vision camera obtains an orthographic projection image P2 (shown in fig. 2) of the workpiece to be dispensed on the dispensing platform, and calculates compensation amounts in three axes of the dispensing platform according to the spatial offset and the rotation angle θ, so as to determine an actual dispensing position of the dispensing platform by compensating the compensation amounts in the three axes.
In this step, the method further includes: determining a rotation angle of the dispensing platform relative to the reference point in space, and respectively calculating compensation in the three-axis direction of the dispensing platform according to the space offset and the rotation angle; specifically, in this embodiment, the deviations of the reference point position and the actual image position in the X-axis and Y-axis directions may be calculated by the spatial offset amount and are respectively set as dx and dy; specifically, the following formula is combined with the formulas (2), (3) and (4) to calculate:
dx＝△L*cos(△Z)-△L (5)，
dy＝△Y+△L*sin(△Z) (6)；
in this embodiment, the compensation amounts in the three-axis direction of the dispensing platform are calculated according to the values dx, dy, and θ, and are set as OffsetX, OffsetY, and OffsetZ, specifically, in combination with equations (5) and (6), the compensation amounts are calculated by the following equations:
OffsetX＝dx (7)，
OffsetY＝dy*cos(θ/180) (8)，
OffsetZ＝dy*sin(θ/180) (9)；
the offset x, offset y, and offset z values are values that the dispensing device respectively compensates the dispensing position in the X, Y, Z-axis direction of the rectangular spatial coordinate system R, so as to determine the actual dispensing position of the dispensing platform, which is beneficial to improving the dispensing efficiency of the dispensing device.
In the embodiment of the invention, when the dispensing platform rotates to a horizontal dispensing surface, the dispensing positioning method controls the visual camera to move to the position of a datum point of the dispensing surface and acquires corresponding image data; determining the actual image coordinates of the workpiece to be subjected to dispensing according to the image data, and determining the space offset according to the coordinates of the actual image and the coordinates of the reference point; and when the dispensing platform rotates for an angle and performs dispensing, calculating compensation quantity in the three-axis direction of the dispensing platform according to the space offset, and determining the actual dispensing position of the dispensing platform by compensating the compensation quantity in the three-axis direction. The dispensing positioning method is used for positioning the dispensing position, has good positioning precision, reduces the cost, and has simple and convenient dispensing steps, thereby improving the dispensing efficiency in the production process.
Example two
The embodiment of the present invention further provides a dispensing positioning device based on machine vision, which is applied to the dispensing positioning method based on machine vision described in the above embodiment, and as shown in fig. 3, the dispensing positioning device includes a visual camera 100, a dispensing platform 200, a processing module 300, and a mechanical device 400 for controlling the movement of the visual camera;
the dispensing platform 200 is used for placing a workpiece to be dispensed; when the dispensing platform 200 rotates to a horizontal dispensing surface, the vision camera 100 moves to a reference point position of the dispensing surface under the control of the mechanical device 400 to acquire corresponding image data; the processing module 300 is configured to determine an actual image coordinate of a workpiece to be dispensed according to the image data acquired by the visual camera 100, determine a spatial offset according to the coordinate of the actual image and the coordinate of the reference point, calculate a compensation amount in three axis directions of the dispensing platform 200 according to the spatial offset, and determine an actual dispensing position of the dispensing platform 200 by compensating the compensation amount in the three axis directions.
In an embodiment of the present invention, referring to fig. 2, a spatial rectangular coordinate system R is established in the space of the vision camera 100 and the dispensing platform 200, coordinates of the reference point and the actual image in the spatial rectangular coordinate system R are set as (Xm, Ym, Zm) and (Xc, Yc, Zc), respectively, and the rotation angle is set as θ in this embodiment; in this embodiment, the vision camera 100 acquires corresponding image data, where the image data is an orthographic projection image P1 of the workpiece to be subjected to dispensing, acquired by the vision camera 100 on the dispensing platform 200; after the dispensing platform 200 rotates by an angle θ, the vision camera 100 obtains corresponding image data as another orthographic projection image P2 of the workpiece to be dispensed under the control of the mechanical device 400; in this embodiment, the method for determining the actual image coordinates of the workpiece to be dispensed includes: establishing a camera coordinate system Rc by using the internal space of the vision camera, when the vision camera acquires image data, determining the coordinates of the actual image of the workpiece to be glued in the camera coordinate system Rc according to the image data by the vision camera, and converting the coordinates of the actual image in the camera coordinate system Rc into the coordinates in a space rectangular coordinate system R, thereby acquiring the coordinates of the actual image.
In the embodiment of the invention, the coordinate conversion in the visual camera can be realized by the self-contained software of the visual camera and can also be realized by other computer software; the vision camera is obtaining corresponding image data, be favorable to improving when the platform is in the horizontally state is glued to the point image accuracy of data.
In this embodiment, the processing module 300 is further configured to determine a rotation angle of the dispensing platform 200 in space relative to the reference point, and respectively calculate compensation amounts in three axis directions of the dispensing platform 200 according to the spatial offset and the rotation angle; specifically, the offset amounts in the three-axis directions of the dispensing platform 200 are respectively set to Δ X, Δ Y, and Δ Z, the distance between the reference point position and the actual image position is set to Δ L, and the calculation processes are respectively as in formulas (1), (2), (3), and (4) in the above method embodiment; this embodiment may also calculate the deviations of the reference point position from the actual image position in the X-axis and Y-axis directions to dx and dy, respectively, based on the values of Δ X, Δ Y, Δ Z, and Δ L, which are calculated as formulas (5) and (6) in the above method embodiments, respectively; calculating compensation amounts in three axial directions of the dispensing platform 200 to be OffsetX, OffsetY and OffsetZ respectively according to a deviation dx of the reference point position and the actual image position in the X-axis direction, a deviation dy of the reference point position and the actual image position in the Y-axis direction and a rotation angle θ of the dispensing platform 200, wherein the calculation processes are respectively as in the formulas (7), (8) and (9) in the above method embodiment; the offset x, offset y, and offset z values are values that the dispensing device respectively compensates the dispensing position in the X, Y, Z-axis direction of the rectangular spatial coordinate system R, so as to determine the actual dispensing position of the dispensing platform 200, which is beneficial to improving the dispensing efficiency of the dispensing device.
In the embodiment of the present invention, the dispensing platform 200 is a rotatable platform, the rotatable platform can rotate at any angle by using the Y axis as a rotation center, and the rotation angle θ is measured by an angle ruler; in other embodiments of the present invention, the rotatable platform may rotate by a certain angle with any axis of the spatial rectangular coordinate system R as a rotation center according to an actual dispensing requirement, and the rotation angle θ may also be measured by other methods, which is not limited in this embodiment.
As a preferable solution of this embodiment, the vision camera 100 is disposed in the Z-axis direction of the spatial rectangular coordinate system R, the dispensing platform 200 is disposed in the Y-axis direction of the spatial rectangular coordinate system R, and the vision camera 100 is disposed above the dispensing platform 200.
As a preferable solution of this embodiment, the vision camera 100 is mounted on the mechanical apparatus 400, and the mechanical apparatus 400 controls the movement of the vision camera.
Preferably, the mechanical device 400 is a mechanical arm.
As a preferred solution of this embodiment, the processing module 300 is a computer device.
In the embodiment of the present invention, the dispensing positioning apparatus uses the visual camera 100, the dispensing platform 200, the processing module 300, and the mechanical apparatus 400 for controlling the movement of the visual camera, and when the dispensing platform 200 rotates to a horizontal dispensing surface, the visual camera 100 obtains coordinates of an actual image, and when dispensing is performed after the dispensing platform 200 rotates by an angle θ, the processing module 300 calculates compensation amounts in three axis directions of the dispensing platform by combining the reference point and the coordinates of the actual image, so as to determine an actual dispensing position of the dispensing platform. The dispensing positioning device is used for positioning the dispensing position, has good positioning precision, reduces the cost, and has simple and convenient dispensing steps, thereby improving the dispensing efficiency in the production process.
In the embodiment of the invention, the machine vision-based dispensing positioning method and device capture the position of an actual image and the position of a reference point through a vision camera to compare, obtain the spatial offset of the actual image and the reference point, convert the deviation of the dispensing position, calculate the compensation quantity in the three-axis direction of a dispensing platform in combination with the rotation angle of the dispensing platform, and determine the actual dispensing position of the dispensing platform by compensating the compensation quantity in the three-axis direction; the dispensing positioning method is used for positioning the dispensing position, has good positioning precision, reduces the cost, and has simple and convenient dispensing steps, thereby improving the dispensing efficiency in the production process.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (6)
1. A dispensing positioning method based on machine vision is characterized by comprising the following steps:
when the dispensing platform rotates to a horizontal dispensing surface, the vision camera is controlled to move to the datum point position of the dispensing surface and corresponding image data are obtained, wherein the datum point position is the Mark point position of the dispensing surface of the workpiece to be dispensed and is used for a machine welding positioning point; the image data is an orthographic projection image P1 of the workpiece to be subjected to glue dispensing, which is obtained by the vision camera on the glue dispensing platform;
determining the actual image coordinates of the workpiece to be subjected to dispensing according to the image data, and determining the space offset according to the coordinates of the actual image and the coordinates of the reference point;
when dispensing is performed after the dispensing platform rotates for an angle, calculating compensation quantities in three axis directions of the dispensing platform according to the space offset, and determining the actual dispensing position of the dispensing platform by compensating the compensation quantities in the three axis directions;
and determining a rotation angle of the dispensing platform relative to the reference point in space, wherein the vision camera obtains an orthographic projection image P2 of the workpiece to be dispensed on the dispensing platform, and respectively calculating compensation in the three-axis direction of the dispensing platform according to the space offset and the rotation angle.
2. The machine vision-based dispensing positioning method according to claim 1, wherein the calculating the compensation amounts in the three-axis directions of the dispensing platform according to the spatial offset and the rotation angle respectively comprises:
establishing a spatial rectangular coordinate system R, setting the coordinates of the reference point in the spatial rectangular coordinate system R as (Xm, Ym, Zm), setting the coordinates of the actual image of the camera in the spatial rectangular coordinate system R as (Xc, Yc, Zc), setting the offset of the dispensing platform in the three-axis direction as DeltaX, DeltaY and DeltaZ, and setting the distance between the position of the reference point and the position of the actual image as DeltaL, wherein the method comprises the following calculation formula:
△X＝Xc-Xm，
△Y＝Yc-Ym，
△Z＝Zc-Zm，
calculating the deviation of the reference point position and the actual image position in the X-axis direction and the Y-axis direction as dx and dy respectively, then:
dx＝△L*cos(△Z)-△L，
dy＝△Y+△L*sin(△Z)；
determining a rotation angle of the dispensing platform relative to the reference point in space as theta, and calculating compensation quantities in the three-axis direction of the dispensing platform according to the values of dx, dy and theta as offset x, offset y and offset z respectively, then:
OffsetX＝dx，
OffsetY＝dy*cos(θ/180)，
OffsetZ＝dy*sin(θ/180)。
3. the machine vision-based spot-gluing positioning method according to claim 2, wherein: theta is any angle of the dispensing platform after rotation by taking the Y axis as a rotation center, and the rotation angle theta is measured through an angle ruler.
4. A dispensing positioning device based on machine vision is characterized by comprising a vision camera, a dispensing platform, a processing module and a mechanical device for controlling the movement of the vision camera;
the dispensing platform is used for placing a workpiece to be dispensed;
when the dispensing platform rotates to a horizontal dispensing surface, the vision camera moves to a reference point position of the dispensing surface under the control of the mechanical device to obtain corresponding image data, wherein the reference point position is a Mark point position of the dispensing surface of a workpiece to be dispensed and is used for machine welding positioning; the image data is an orthographic projection image P1 of the workpiece to be subjected to glue dispensing, which is obtained by the vision camera on the glue dispensing platform;
the processing module is used for determining the actual image coordinates of a workpiece to be subjected to glue dispensing according to the image data acquired by the vision camera, determining the spatial offset according to the coordinates of the actual image and the coordinates of the reference point, calculating the compensation quantity in the three-axis direction of the glue dispensing platform according to the spatial offset, and determining the actual glue dispensing position of the glue dispensing platform by compensating the compensation quantity in the three-axis direction;
the processing module is further configured to: and determining a rotation angle of the dispensing platform relative to the reference point in space, wherein the vision camera obtains an orthographic projection image P2 of the workpiece to be dispensed on the dispensing platform, and the processing module respectively calculates compensation in the three-axis direction of the dispensing platform according to the space offset and the rotation angle.
5. The machine vision-based spot-gluing positioning device of claim 4, wherein: the processing module is specifically configured to:
establishing a spatial rectangular coordinate system R, setting the coordinates of the reference point in the spatial rectangular coordinate system R as (Xm, Ym, Zm), setting the coordinates of the actual image of the camera in the spatial rectangular coordinate system R as (Xc, Yc, Zc), setting the offset of the dispensing platform in the three-axis direction as DeltaX, DeltaY and DeltaZ, and setting the distance between the position of the reference point and the position of the actual image as DeltaL, wherein the method comprises the following calculation formula:
△X＝Xc-Xm，
△Y＝Yc-Ym，
△Z＝Zc-Zm，
calculating the deviation of the reference point position and the actual image position in the X-axis direction and the Y-axis direction as dx and dy respectively, then:
dx＝△L*cos(△Z)-△L，
dy＝△Y+△L*sin(△Z)；
determining a rotation angle of the dispensing platform relative to the reference point in space as theta, and calculating compensation quantities in the three-axis direction of the dispensing platform according to the values of dx, dy and theta as offset x, offset y and offset z respectively, then:
OffsetX＝dx，
OffsetY＝dy*cos(θ/180)，
OffsetZ＝dy*sin(θ/180)。
6. the machine vision-based spot-gluing positioning device of claim 5, wherein: theta is any angle of the dispensing platform after rotation by taking the Y axis as a rotation center, and the rotation angle theta is measured through an angle ruler.
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| CN112950722B (en) * | 2021-03-03 | 2022-10-04 | 深圳市旗众智能科技有限公司 | Offset calibration method between camera and dispensing head of dispensing machine |
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| CN115415118B (en) * | 2022-09-28 | 2023-12-08 | 苏州天准科技股份有限公司 | Rotary disc type dispensing machine |
| CN115921207B (en) * | 2022-09-28 | 2023-12-08 | 苏州天准科技股份有限公司 | Dispensing identification method and dispensing device based on multidimensional image |
| CN115415117B (en) * | 2022-09-28 | 2024-01-26 | 苏州天准科技股份有限公司 | Adhesive dispensing device |
| CN115518838B (en) * | 2022-11-23 | 2023-05-23 | 苏州佳祺仕科技股份有限公司 | Dispensing control method, device, equipment and storage medium |
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