CN109926724B - double-CCD positioning marking method, double-CCD positioning marking system and storage medium - Google Patents
double-CCD positioning marking method, double-CCD positioning marking system and storage medium Download PDFInfo
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- CN109926724B CN109926724B CN201910216432.9A CN201910216432A CN109926724B CN 109926724 B CN109926724 B CN 109926724B CN 201910216432 A CN201910216432 A CN 201910216432A CN 109926724 B CN109926724 B CN 109926724B
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Abstract
The application relates to a double-CCD positioning marking method, a double-CCD positioning marking system and a storage medium, wherein the method comprises the following steps: acquiring a position to be marked of a product to be processed; acquiring first position information obtained by shooting the position of a first internal angle of a product to be processed by a main camera and second position information obtained by shooting the position of a second internal angle of the product to be processed by a secondary camera; the first inner angle and the second inner angle are positioned on the same diagonal line of the product to be processed; the first position information is the relative position of the central position of the master camera, and the second position information is the relative position of the central position of the slave camera; and controlling the laser to mark the product to be processed based on the first position information, the second position information and the position to be marked. According to the double-CCD positioning and marking method, due to the fact that the two CCD cameras at fixed positions are used for positioning, large-range positioning can be achieved, requirements for a machine table and a CCD are low, and the method is easy to achieve.
Description
Technical Field
The application relates to the technical field of optics, in particular to a double-CCD positioning marking method, a double-CCD positioning marking system and a storage medium.
Background
With the development of the technology, it is very common that laser is adopted for electronic products, and the position of the product needs to be located when the laser is adopted for the product, so that a method for positioning and marking by a Charge Coupled Device (CCD) is generated.
In the application of CCD positioning and marking, for the positioning in a small range, a single CCD can meet the requirement; for large-scale positioning, the positioning is usually realized by matching a high-speed linear platform with a single CCD, the mode of matching the high-speed linear platform with the single CCD requires that different positions of a product have 2 or more characteristic points, after the characteristic points are positioned by the CCD, the platform moves the product to a position below a marking square head for laser, so that the precision of the product can be determined by the precision of the CCD and the precision of the platform together, if the application with higher precision is to be realized, the CCD and the platform are required to be simultaneously satisfied, the requirement of the platform on a machine table by high-speed movement is higher, the requirements of the positioning on the installation levelness and the verticality of the CCD are also strict, therefore, if the requirement on the high precision is required, the requirements on the machine table and the.
Disclosure of Invention
In view of the above, it is necessary to provide a dual CCD positioning and marking method, a dual CCD positioning and marking system, and a storage medium for solving the above technical problems.
A double CCD positioning and marking method comprises the following steps:
acquiring a position to be marked of a product to be processed;
acquiring first position information obtained by shooting the position of a first inner angle of the product to be processed by a main camera and second position information obtained by shooting the position of a second inner angle of the product to be processed by a secondary camera; the first inner angle and the second inner angle are positioned on the same diagonal line of the product to be processed; the first position information is a relative position of a center position of the master camera, and the second position information is a relative position of a center position of the slave camera;
and controlling a laser to mark the product to be processed based on the first position information, the second position information and the position to be marked.
In one embodiment, controlling a laser to mark the product to be processed based on the first position information, the second position information and the position to be marked comprises:
determining product center position information of the product to be processed based on the first position information and the second position information;
and controlling a laser to mark the product to be processed based on the product center position information and the position to be marked.
In one embodiment, before the acquiring the position to be marked of the product to be processed, the method further includes:
acquiring main camera center position information of the main camera center and slave camera center position information of the slave camera center;
determining inter-camera center position coordinates of the master camera and the slave camera based on the master camera center position information, the slave camera center position information, and a calibration plate;
and determining an included angle between the master camera and the slave camera based on the master camera center position information, the slave camera center position information and the calibration board.
In one embodiment, before the acquiring the position to be marked of the product to be processed, the method further includes:
obtaining a test point laser system coordinate obtained by marking a test point on a test board by a laser;
acquiring a test point pixel coordinate obtained by shooting the test point by the main camera;
and determining the conversion relation between the pixel coordinate of the main camera and the laser system coordinate of the laser based on the test point laser system coordinate and the test point pixel coordinate.
In one embodiment, the determining the product center location information of the product to be processed based on the first location information and the second location information includes:
determining product center position coordinates of the product to be processed based on the first position information, the second position information and the center position coordinates between cameras;
and determining the product center position offset angle of the product to be processed based on the first position information, the second position information and the included angle between the cameras.
In one embodiment, the product center location information includes: the product center position coordinate of the product center, and the product center position offset angle of the product center.
In one embodiment, controlling a laser to mark the product to be processed based on the product center position information and the position to be marked comprises:
converting the product center position coordinate into a product center position laser system coordinate according to the conversion relation between the pixel coordinate of the main camera and the laser system coordinate of the laser;
and controlling the laser to mark the product to be processed based on the product center position laser system coordinate.
In one embodiment, the first position information includes a first coordinate of a position of the first internal angle, a first offset angle of the position of the first internal angle compared to the main camera; the second position information includes a second coordinate of a position of the second internal angle, and a second offset angle of the position of the second internal angle compared to the slave camera.
A dual CCD positioning marking system, the system comprising: the device comprises a master camera, a slave camera, a laser, a jig, a light source and a control module; the shooting ranges of the master camera and the slave camera are positioned on the same diagonal line of the jig; the light source is arranged towards the master camera and the slave camera;
the control module is used for shooting first position information obtained by shooting a first inner angle of a product to be processed placed on the jig by the main camera and shooting second position information obtained by shooting a second inner angle of the product to be processed by the auxiliary camera; and controlling a laser to mark the product to be processed based on the first position information, the second position information and the position to be marked.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
According to the double-CCD positioning marking method, the double-CCD positioning marking system and the storage medium, position information (positions to be marked) needing marking is obtained firstly, a product to be processed placed on a processing platform is photographed through two CCD cameras at fixed positions before marking, the two CCD cameras correspond to two opposite inner angle positions of the product to be processed respectively, the position information of the two opposite inner angles is determined after photographing respectively, and the laser is controlled to mark the product to be processed based on the position information of the two inner angles and the positions to be marked. Because the CCD cameras at two fixed positions are used for positioning, the positioning in a large range can be realized, and the requirements on a machine table and the CCD are low, so that the positioning is easy to realize.
Drawings
FIG. 1 is a schematic structural diagram of a dual CCD positioning and marking system in one embodiment;
FIG. 2 is a schematic view of a fixture in one embodiment;
FIG. 3 is a schematic flow chart of a dual CCD positioning and marking method in one embodiment;
FIG. 4 is a schematic flow chart illustrating a process of controlling a laser to mark a product to be processed based on first position information, second position information, and a position to be marked in one embodiment;
FIG. 5 is a top view of the mounting locations of the master camera and slave camera in one embodiment;
FIG. 6 is a schematic flow chart illustrating calibration of master and slave camera mounting locations in one embodiment;
FIG. 7 is a schematic illustration of a calibration plate employed in one embodiment;
FIG. 8 is a schematic illustration of the positions of the master camera, the slave camera center and the calibration plate in one embodiment;
FIG. 9 is a schematic diagram of a process for laser and main camera calibration in one embodiment;
FIG. 10 is a schematic diagram of a laser and main camera calibration in one embodiment;
fig. 11 is a schematic flow chart of a dual CCD positioning marking method in an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The application provides a two CCD location marking method can be applied to two CCD location marking systems as shown in figure 1, includes: the device comprises a master camera, a slave camera, a laser, a jig, a light source and a control module. The shooting ranges of the master camera and the slave camera are positioned on the same diagonal line of the jig; the light source is arranged towards the master camera, the slave camera. The control module is used for shooting first position information obtained by shooting a first inner angle of a product to be processed placed on the jig according to the main camera and shooting second position information obtained by shooting a second inner angle of the product to be processed from the camera; and controlling the laser to mark the product to be processed based on the first position information, the second position information and the position to be marked. Fig. 2 is a schematic view of a jig according to an embodiment.
In one embodiment, as shown in fig. 3, a dual CCD positioning marking method is provided, which is exemplified by the application of the method to the control module in fig. 1, and includes steps S310 to S330.
And S310, acquiring the position to be marked of the product to be processed.
In the embodiment of the application, the to-be-processed product is rectangular, for example, the to-be-processed product may be a mobile phone shell, when the to-be-processed product is processed, a to-be-marked position, that is, a place to be marked, for example, in one embodiment, a laser pattern "ABC" on the mobile phone shell needs to be determined, and the laser position of "ABC" is set as a central position and parallel short sides, where the position is the to-be-marked position of the to-be-processed product (mobile phone shell). It will be appreciated that in other embodiments, the location to be marked may be at other locations on the product to be processed.
The marking position is different according to the actual condition of the product to be processed, so that the marking position of the product to be processed needs to be input into the marking system before the product to be processed is marked.
Step S320, acquiring first position information obtained by shooting a position of a first internal angle of the product to be processed by the main camera, and second position information obtained by shooting a position of a second internal angle of the product to be processed by the slave camera.
The first inner angle and the second inner angle are positioned on the same diagonal line of the product to be processed; the first position information is a relative position of a center position of the master camera, and the second position information is a relative position of a center position of the slave camera.
The master camera and the slave camera are two CCD cameras respectively, and in this embodiment, the camera installed at the same position of the laser is defined as the master camera (laser coaxial camera), and the other camera is the slave camera; in one embodiment, a top view of the installation positions of the master camera and the slave camera is shown in fig. 5, the master camera and the slave camera are respectively arranged at the right lower corner and the left upper corner, and the master camera and the slave camera are used for shooting the positions of two inner corners on one diagonal line of the product to be processed, so as to determine the position information of two opposite inner corners (two non-adjacent inner corners) of the product to be processed. It should be noted here that when the product to be processed is placed on the machine, two opposite inner angles are respectively in the shooting ranges of the master camera and the slave camera.
In one embodiment, the first position information includes a first coordinate of a position of the first internal angle, the position of the first internal angle being a first offset angle compared to the main camera; the second position information includes a second coordinate of a position of the second interior angle compared to a second offset angle from the camera. Taking the embodiment shown in fig. 5 as an example, the coordinate information of the position of the lower right corner of the product to be processed, which is shot by the lower right corner main camera, may be recorded as a first coordinate (PR _ X, PR _ Y) and a first offset angle PR _ θ; the coordinate information of the position of the upper left corner of the product to be processed, which is shot by the camera to the lower right corner of the product to be processed, can be recorded as a second coordinate (PL _ X, PL _ Y) and a second offset angle PL _ theta.
The pixels adopted by the master camera and the slave camera can be selected according to actual conditions, for example, in one embodiment, the pixels adopted by the master camera and the slave camera are the same and are both 2048X2440 pixels (50W) of a CCD camera.
And S330, controlling a laser to mark a product to be processed based on the first position information, the second position information and the position to be marked.
According to the double-CCD positioning marking method, two opposite inner angle positions of a product to be processed are respectively shot through the two CCD cameras, the position information of the two inner angles is determined, and then the position information of the center position of the product is determined according to the position information of the two inner angles. In one embodiment, the position to be marked may be a relative position of a center position of the product to be processed (for example, a position of X1 at the center position or from the center position), a relative position of an edge of the product to be processed (for example, a position of X2 from one short side of the mobile phone shell), or other forms of representation.
Further, in one embodiment, based on the first position information, the second position information and the position to be marked, the laser is controlled to mark the product to be processed, as shown in fig. 4, which includes step S410 and step S420.
And step S410, determining the product center position information of the product to be processed based on the first position information and the second position information.
Wherein, in one embodiment, the product center location information comprises: the product center position coordinate of the product center, and the product center position offset angle of the product center.
The center position of the product is the position of the center point of the product to be processed, in the embodiment, two opposite inner angles of the product to be processed are shot by two CCD cameras to determine the positions, and then the center position of the product is determined according to the positions of the two inner angles. In contrast, with respect to the main CCD camera, an inner angle position of the product to be processed is photographed (for example, a lower right corner in fig. 5), and first position information of the inner angle position of the lower right corner (a coordinate position of the lower right corner with respect to the center of the main camera, and an angle offset) can be determined. Similarly, second position information of the inner corner position of the upper left corner (the coordinate position of the upper left corner relative to the center of the camera and the angle offset) is determined relative to the position of the upper left corner of the product to be processed, which is shot by the camera. And then the position information of the center of the product to be processed is determined according to the first position information and the second position information respectively determined by the master camera and the slave camera.
In one embodiment, before acquiring the position to be marked of the product to be processed, the mounting positions of the master camera and the slave camera need to be calibrated, as shown in fig. 6, which includes steps S610 to S630.
In step S610, the master camera center position information of the master camera center and the slave camera center position information of the slave camera center are acquired.
The master camera center position information comprises coordinate information of a master camera center position, and the slave camera center position comprises coordinate information of a slave camera center position; in one embodiment, the coordinates of the center of the master camera and the coordinates of the center of the slave camera are in the same coordinate system, and further, the coordinate system is established with the center of the master camera as an origin, and the coordinates of the center of the master camera and the coordinates of the center of the slave camera adopt pixel coordinates.
In step S620, inter-camera center position coordinates of the master camera and the slave camera are determined based on the master camera center position information, the slave camera center position information, and the calibration board.
Step S630, determining an angle between the master camera and the slave camera based on the master camera center position information, the slave camera center position information, and the calibration board.
After the master camera and the slave camera are installed, the installation positions and angles of the two cameras need to be calibrated, and in the embodiment, the calibration of the master camera and the slave camera is realized through one calibration plate; fig. 7 is a schematic diagram of a calibration plate used in one embodiment. After the fixing of the master camera and the slave camera is finished, the relative positions of the master camera and the slave camera are determined; in the calibration process, the centers of the two cameras are respectively positioned on the calibration plate, and the distance between the centers of the two cameras can be determined through the calibration plate due to the fact that the calibration plate is a checkerboard, so that the coordinates of the centers of the cameras of the master camera and the slave camera can be obtained on the premise that a coordinate system is determined. Wherein, if the centers of 2 CCDs are all located at the center of white or black point as much as possible, the convenience of the center coordinates of the master camera and the slave camera can be improved. Fig. 8 is a schematic diagram showing the positions of the master camera (center 2), the slave camera center (center 2) and the calibration board in one embodiment.
In one embodiment, a 1mm checkerboard is used as the calibration board, each row and each column represents 1mm, and the checkerboard is an absolute position. Taking the center of the main camera as an origin, calculating black and white space data, and if the CCD _ X represents the length distance, taking the corresponding position value as the number of black and white columns (Col); CCD _ Y represents a width value, corresponding to the number of black and white grid lines (Row), X and Y are completely determined to be not changed to be used as reference values after the system is normally used, and the central positions of the double CCDs are (CCD _ X/2, CCD _ Y/2). The included angle between the master camera and the slave camera is mainly caused by installation, if the cameras are installed with offset, the collected checkerboards can also have rhombic graphs, tangent or cotangent values relative to the angle of the checkerboard coordinate system can be calculated by calculating the length of the offset checkerboards, and then the included angle CCD _ theta between the master camera and the slave camera is reversely calculated, and in the embodiment, the included angle is recorded as the included angle between the cameras.
According to the double-CCD positioning marking method, after the master camera and the slave camera are installed and before the system is put into production, the installation position between the master camera and the slave camera and the included angle between the cameras are calibrated through the calibration plate, and the positioning accuracy of the system can be improved.
Further, in one embodiment, determining the product center position information of the product to be processed based on the first position information and the second position information comprises:
determining the product center position coordinate of the product to be processed based on the first position information, the second position information and the center position coordinate between the cameras; and determining the product center position offset angle of the product to be processed based on the first position information, the second position information and the included angle between the cameras.
Still taking fig. 5 as an example, the master CCD determines and calculates the pixel coordinates and the angular offset of the bottom right corner of the product to be processed in the CCD, and the slave camera determines the pixel coordinates and the angular offset of the top left corner of the product to be processed in the CCD. In the calibration of the master camera and the slave camera, the camera center position (CCD _ X, CCD _ Y) between the master camera and the slave camera and the included angle CCD _ θ between the cameras are determined, and in this embodiment, the product center position information of the product to be processed is determined by the position information of the camera center.
Assuming that the right lower angle positions of the product to be processed collected by the main camera are (PR _ X, PR _ Y), the values are relative to the midpoint position (1024,1220) of the main camera, the unit values are pixel units, and the offset angle is PR _ theta; coordinates of the upper left corner position of a product to be processed collected from the camera are (PL _ X, PL _ Y), the value is relative to a point of a midpoint position (1024,1220) of the camera, unit values are pixel units, an offset angle is PL _ theta, coordinates of the center position of the product (PCCD _ X, PCCD _ Y) can be calculated based on the calibration of the positions of the master camera and the slave camera, and the angle offset PCCD _ theta is respectively as follows:
PCCD_X= CCD_X /2+ PR_X – PL_X；
PCCD_Y= CCD_Y /2 + PR_Y – PL_Y；
PCCD_θ= CCD_θ+ PR_θ– PL_θ。
according to the double-CCD positioning and marking method, the position information of a product to be processed is obtained through calculation according to the camera center position coordinates and the included angle between the cameras of the master camera and the slave camera determined in the calibration process between the master camera and the slave camera and the position information (first position information and second position information) of the positions of two inner angles of the product to be processed on the diagonal determined by the master camera and the slave camera, for the placement position of the product to be processed, only the two inner angle positions on the diagonal need to be placed in the shooting range of the master camera and the shooting range of the slave camera respectively, the system can determine the product center position information by capturing the position information of the two inner angle positions and combining the center position between the cameras, and therefore the operation requirement on processing is low.
And step S420, controlling a laser to mark the product to be processed based on the central position information of the product and the position to be marked.
In one embodiment, before obtaining the position to be marked of the product to be processed, calibration between the laser and the main camera is also required, as shown in fig. 9, which includes steps S920 to S930.
Step S910, obtaining the test point laser system coordinate obtained by marking the test point on the test board by the laser.
Step S920, obtaining the pixel coordinates of the test point obtained by shooting the test point by the main camera.
And step S930, determining the conversion relation between the pixel coordinate of the main camera and the laser system coordinate of the laser based on the test point laser system coordinate and the test point pixel coordinate.
The method comprises the steps of correcting the BOX of the laser before the laser is used, marking out test points by adopting correction software, and obtaining laser system coordinates of the test points, wherein the laser system coordinates can use the center of the laser as an origin. And then keeping the position of the test point unchanged, and determining the pixel coordinate of each test point after the test point is photographed by the main camera, thereby determining the conversion relation between the laser system coordinate and the pixel coordinate.
In the embodiment, laser system coordinates are adopted in the laser, and coordinates adopted in the master camera and the slave camera are pixel coordinates; the main camera and the laser are coaxial and are an interface for the double-camera system and the laser to calculate and butt-joint conversion, namely the main camera contains position data of the double-camera system, and after the main camera and the laser are calibrated, the main camera and the laser body system also form a set of corresponding coordinate conversion system, so that after the main camera and the laser are installed, the conversion relation between the main camera and the laser is also calibrated to determine the coordinate conversion relation between the coordinate taking the center of the main camera and the coordinate taking the laser as the center. After the correction is carried out by the main camera and the laser system, the conversion of the pixel unit of the camera into the actual unit of the laser system can be determined, and the coordinate position of the laser center and the center position of the camera can be determined.
In one embodiment, the calibration between the master camera and the laser includes camera pixel and laser actual unit conversion, as well as laser center coordinate position and camera center position.
Camera pixel and laser actual unit conversion: the laser coordinate system is used as a reference value, the laser system can carry out position system correction, namely BOX correction before use, and the position size marked by the determined laser and the position size actually measured are basically in the same range. The laser system is used in practical application in the unit of millimeter in national general, and the camera is used in the unit of pixel because of the characteristic relation. Taking a camera of 2048X2440 pixels (50W) as an example, marking and editing 9-point coordinates by a laser through marking software, wherein the point radius is 1 mm; as shown in fig. 10, the left part shows a square matrix with (0, 0) as the center point and 3mm spacing, and the coordinates are:
[-3,3], [0,3], [3,3]
[-3,0], [0,0], [3,0]
[-3,-3], [0,-3], [3,-3]
as shown in the left part of fig. 10, dot representing directions are added in two directions perpendicular to each other along a matrix dot connecting line, where a direction in which matrix dots are closer to each other is set as a Y direction, and a direction in which matrix dots are farther from each other is set as an X direction.
After the dot matrix is marked by the laser, the position of the dot matrix is not changed, and the dot matrix is collected by the main camera, it should be noted that the 9-dot matrix dots and the added dot representation methods are all required to be within the visual field range of the main camera, and the right part shown in fig. 10 is an image obtained by shooting the laser dot matrix by the main camera. After the dot matrix picture is photographed, the pixel coordinates of the matrix points in the camera can be confirmed as follows in the visual field of the main camera; the pixel coordinates of the main camera defaults to the upper left corner as the origin (0, 0). In one embodiment, when the main camera shoots the laser dot matrix, the calibration effect is best when the dot matrix is kept opposite to the full view field of the main camera.
[350,600]，[910,601]，[1470,601.5]
[350.2,1160]，[910.2,1160.3]，[1470.5,1161]
[350,1721]，[910, 1720.6]，[1470.3, 1721.3]
Comparing the laser coordinate system with the camera coordinate system, it can be determined that the laser center and the main camera center are not completely coaxial, and it can be determined that the pixel of the camera corresponding to the laser 3mm pitch is 560Pix, and it is determined through calculation that one CCD pixel is equivalent to the unit of 0.0053mm, that is, in this embodiment, the conversion relationship between the pixel coordinate of the main camera and the laser system coordinate of the laser is as follows: one pixel unit is equal to 0.0053mm in the laser system coordinates.
Laser center coordinate position and center position of camera: according to the above 9-point correction point location matrix data of the laser and camera, the laser coordinate point (0, 0) corresponds to the camera coordinate (910.2,1160.3), that is, in the present embodiment, the X-direction deviation is large between the laser system coordinate and the pixel coordinate conversion. When the laser center and the main camera center are completely overlapped, namely the laser coordinate point (0, 0) corresponds to the camera center position coordinate point (1024,1220), the debugging effect is optimal.
Further, in one embodiment, after determining the conversion relationship between the coordinates of the laser system and the coordinates of the pixels, the method for marking the product to be processed by controlling the laser based on the information of the center position of the product and the position to be marked comprises the following steps:
converting the coordinates of the center position of the product into the coordinates of a laser system of the center position of the product according to the conversion relation between the coordinates of the pixels of the main camera and the coordinates of the laser system of the laser;
and controlling a laser to mark the product to be processed based on the coordinate of the laser system at the center of the product.
In the double-CCD positioning and marking method, the conversion relation between the coordinate of the laser system and the pixel coordinate is determined by a 9-point calibration method, so that when a product to be processed is marked, the central position information of the product is determined based on the first position information, the second position information and the central position information of the camera which are obtained by shooting of the camera, and the pixel coordinate is adopted by the first position information, the second position information and the central position information of the camera, so that the coordinate of the obtained central position information of the product is also the pixel coordinate. The coordinates in the product center position information can be converted into the coordinates of the laser system through the conversion relation between the two coordinate systems; therefore, the center position of the product can be shifted in the laser coordinate system, the system can set the pattern (such as character ABC) to be marked at the position to be marked to the shift distance of the laser system away from the center position of the product after knowing the laser coordinate position of the center of the product to be processed, and the laser is controlled to mark according to the shift distance.
The double-CCD positioning marking method comprises the steps of firstly obtaining position information (positions to be marked) needing marking, shooting a product to be processed placed on a processing platform through two CCD cameras at fixed positions before marking, wherein the two CCD cameras correspond to two opposite inner angle positions of the product to be processed respectively, determining the position information of the two opposite inner angles after shooting respectively, and controlling a laser to mark the product to be processed based on the position information of the two inner angles and the positions to be marked. Because the CCD cameras at two fixed positions are used for positioning, the positioning in a large range can be realized, and the requirements on a machine table and the CCD are low, so that the positioning is easy to realize.
In a specific embodiment, as shown in fig. 11, a schematic flow chart of a dual CCD positioning and marking method in this embodiment includes the following steps:
after the CCD positioning process is started, a light source is started, and the double CCDs are started to respectively acquire position information of two inner angles of the product to be processed on the same diagonal: taking the installation position shown in fig. 5 as an example, the main camera collects the position of the lower right corner, and calculates to obtain position information of the lower right corner (the first position information); the position of the upper left corner is collected from the camera, and the position information of the upper left corner (the second position information) is calculated.
Then, determining a central position coordinate and an offset angle (direction) of a product in a camera system, converting the central position coordinate of the product into a relative coordinate relative to the center of a main camera, converting the relative coordinate of the central position of the product relative to the center of the main camera into a laser system coordinate based on the conversion relation between the pixel coordinate of the main camera and the laser system coordinate, feeding the laser system coordinate of the central position of the product and the offset angle back to the laser system, and marking the product to be processed after the image file offset is carried out on the product according to the feedback quantity by the laser system.
The double-CCD positioning marking method keeps the advantages of simple design and high working efficiency of single-CCD positioning marking; the method has the advantages that the complicated design and operation of a platform are omitted, the efficiency is improved by multiple times, and the cost is reduced greatly compared with the design of uniform precision.
It should be understood that although the steps in the flowcharts of fig. 3, 4, 6, 9 and 11 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 3, 4, 6, 9 and 11 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, a dual CCD positioning and marking device is provided, comprising:
and the to-be-marked position acquisition module is used for acquiring the to-be-marked position of the to-be-processed product.
The position information determining module is used for acquiring first position information obtained by shooting the position of a first internal angle of a product to be processed by the main camera and second position information obtained by shooting the position of a second internal angle of the product to be processed by the auxiliary camera; the first inner angle and the second inner angle are positioned on the same diagonal line of the product to be processed; the first position information is the relative position of the central position of the master camera, and the second position information is the relative position of the central position of the slave camera;
and the marking module is used for controlling the laser to mark the product to be processed based on the first position information, the second position information and the position to be marked.
For specific limitations of the dual CCD positioning and marking device, reference may be made to the above limitations of the dual CCD positioning and marking method, which are not described herein again. All or part of each module in the double-CCD positioning and marking device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, the present application further provides a computer device, which includes a memory and a processor, where the memory stores a computer program thereon, and the processor, when executing the computer program, implements the dual CCD positioning and marking method as described in any one of the above embodiments.
In one embodiment, the present application further provides a computer readable storage medium having a computer program stored thereon, the computer program when executed by a processor implementing the steps of:
acquiring a position to be marked of a product to be processed;
acquiring first position information obtained by shooting the position of a first internal angle of a product to be processed by a main camera and second position information obtained by shooting the position of a second internal angle of the product to be processed by a secondary camera; the first inner angle and the second inner angle are positioned on the same diagonal line of the product to be processed; the first position information is the relative position of the central position of the master camera, and the second position information is the relative position of the central position of the slave camera;
and controlling the laser to mark the product to be processed based on the first position information, the second position information and the position to be marked.
In one embodiment, the computer program when executed by the processor further performs the steps of: based on first position information, second position information and wait to mark the position, control the laser instrument and wait to process the product and mark, include:
determining product center position information of the product to be processed based on the first position information and the second position information;
and controlling a laser to mark the product to be processed based on the central position information of the product and the position to be marked.
In one embodiment, the computer program when executed by the processor further performs the steps of: before obtaining the position to be marked of the product to be processed, the method further comprises the following steps:
acquiring main camera center position information of a main camera center and slave camera center position information of a slave camera center;
determining inter-camera center position coordinates of the master camera and the slave camera based on the master camera center position information, the slave camera center position information and the calibration board;
and determining the included angle between the cameras of the master camera and the slave camera based on the central position information of the master camera, the central position information of the slave camera and the calibration board.
In one embodiment, the computer program when executed by the processor further performs the steps of: before obtaining the position to be marked of the product to be processed, the method further comprises the following steps:
obtaining a test point laser system coordinate obtained by marking a test point on a test board by a laser;
acquiring a test point pixel coordinate obtained by shooting the test point by a main camera;
and determining the conversion relation between the pixel coordinate of the main camera and the laser system coordinate of the laser based on the test point laser system coordinate and the test point pixel coordinate.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining the product center position information of the product to be processed based on the first position information and the second position information, wherein the method comprises the following steps:
determining the product center position coordinate of the product to be processed based on the first position information, the second position information and the center position coordinate between the cameras;
and determining the product center position offset angle of the product to be processed based on the first position information, the second position information and the included angle between the cameras.
In one embodiment, the computer program when executed by the processor further performs the steps of: product center location information, including: the product center position of the product center is coordinated with the product center position of the product center by an offset angle.
In one embodiment, the computer program when executed by the processor further performs the steps of: based on product center position information and the mark position of waiting to beat, control laser instrument treats that the processing product beats the mark, include:
converting the coordinates of the center position of the product into the coordinates of a laser system of the center position of the product according to the conversion relation between the coordinates of the pixels of the main camera and the coordinates of the laser system of the laser;
and controlling a laser to mark the product to be processed based on the coordinate of the laser system at the center of the product.
In one embodiment, the computer program when executed by the processor further performs the steps of: the first position information comprises a first coordinate of the position of the first internal angle and a first offset angle of the position of the first internal angle relative to the main camera; the second position information includes a second coordinate of a position of the second interior angle compared to a second offset angle from the camera.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A double CCD positioning and marking method comprises the following steps:
acquiring the center position coordinates between the cameras of the master camera and the slave camera and the included angle between the cameras of the master camera and the slave camera;
acquiring a position to be marked of a product to be processed;
acquiring first position information obtained by shooting the position of a first inner angle of the product to be processed by a main camera and second position information obtained by shooting the position of a second inner angle of the product to be processed by a secondary camera; the first inner angle and the second inner angle are positioned on the same diagonal line of the product to be processed; the first position information is a relative position of a center position of the master camera, and the second position information is a relative position of a center position of the slave camera;
determining product center position coordinates of the product to be processed based on the first position information, the second position information and the center position coordinates between cameras;
determining a product center position offset angle of the product to be processed based on the first position information, the second position information and the included angle between the cameras;
and controlling a laser to mark the product to be processed based on the product center position coordinate, the product center position offset angle and the position to be marked.
2. The method of claim 1, wherein the obtaining the coordinates of the center position between the cameras of the master camera and the slave camera and the angle between the cameras of the master camera and the slave camera comprises:
acquiring main camera center position information of the main camera center and slave camera center position information of the slave camera center;
determining inter-camera center position coordinates of the master camera and the slave camera based on the master camera center position information, the slave camera center position information, and a calibration plate;
and determining an included angle between the master camera and the slave camera based on the master camera center position information, the slave camera center position information and the calibration board.
3. The method according to claim 2, characterized in that before said obtaining the position to be marked of the product to be worked, it further comprises:
obtaining a test point laser system coordinate obtained by marking a test point on a test board by a laser;
acquiring a test point pixel coordinate obtained by shooting the test point by the main camera;
and determining the conversion relation between the pixel coordinate of the main camera and the laser system coordinate of the laser based on the test point laser system coordinate and the test point pixel coordinate.
4. The method according to claim 3, wherein controlling a laser to mark the product to be processed based on the coordinates of the center position of the product, the offset angle of the center position of the product, and the position to be marked comprises:
converting the product center position coordinate into a product center position laser system coordinate according to the conversion relation between the pixel coordinate of the main camera and the laser system coordinate of the laser;
and controlling the laser to mark the product to be processed based on the product center position laser system coordinate, the product center position offset angle and the position to be marked.
5. The method according to any one of claims 1 to 4, characterized in that:
the first position information comprises a first coordinate of the position of the first internal angle and a first offset angle of the position of the first internal angle relative to the main camera; the second position information includes a second coordinate of a position of the second internal angle, and a second offset angle of the position of the second internal angle compared to the slave camera.
6. A dual CCD positioning marking system, the system comprising: the device comprises a master camera, a slave camera, a laser, a jig, a light source and a control module; the shooting ranges of the master camera and the slave camera are positioned on the same diagonal line of the jig; the light source is arranged towards the master camera and the slave camera;
the control module performs the steps of the method of any one of claims 1 to 5.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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| CN110889870B (en) * | 2019-11-15 | 2023-05-12 | 深圳市吉祥云科技有限公司 | Large-format product accurate positioning method and system |
| CN112108776B (en) * | 2020-09-17 | 2023-01-06 | 广东吉洋视觉技术有限公司 | High-precision laser marking method for LED lamp bead defective product marking |
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| CN112658470B (en) * | 2020-12-10 | 2023-05-26 | 安徽巨一科技股份有限公司 | Visual positioning guiding and calibrating method for laser welding of stator end flat wire |
| CN113020824B (en) * | 2021-03-19 | 2023-05-12 | 深圳晶森激光科技股份有限公司 | Center measuring method, device and equipment for laser marking and storage medium |
| CN115684157B (en) * | 2022-10-28 | 2023-06-20 | 华南理工大学 | Heat pipe marking positioning method and device based on machine vision center coordinate method |
| CN116851929A (en) * | 2023-09-04 | 2023-10-10 | 武汉华工激光工程有限责任公司 | Object visual positioning laser marking method and system under motion state |
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