CN110125662A - Sound film top dome automatic setup system - Google Patents
Sound film top dome automatic setup system Download PDFInfo
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- CN110125662A CN110125662A CN201910209005.8A CN201910209005A CN110125662A CN 110125662 A CN110125662 A CN 110125662A CN 201910209005 A CN201910209005 A CN 201910209005A CN 110125662 A CN110125662 A CN 110125662A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
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- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Sound film top dome automatic setup system, including three-axis moving system, vacuum chuck on manipulator grabs top dome, it moves to sound film picture-taking position and obtains sound film image, calculate sound film location angle parameter, then it moves to top dome picture-taking position and obtains top dome image, calculate top dome position angle parameter, judge sound film and top dome position angle parameter, top dome is rotated if unequal, reacquire top dome image, calculate top dome position angle parameter, judge whether angle parameter is equal again, if equal calculating top dome sound film relative position, execute linkage editor, finally move to home.The present invention is based on the image procossings of bilateral telecentric lens to be fitted sound film-top dome rectangle frame, error existing for perfect system, improve the image-capable of camera, and requirement of the system for mechanical equipment precision can be greatly reduced, the assembly precision of system increases substantially 0.03mm or so, to realize the assembly precision requirement of system.
Description
Technical field
It is the present invention relates to field of visual inspection, in particular to a kind of to use oneself of bilateral telecentric lens progress sound film and top dome
The system of dynamic assembly.
Background technique
Nowadays electronic product using more and more extensive, the especially accessory of electronic product such as sound film, top dome etc., due to matching
Part is fine, and pure craft is needed to be assembled, but pure hand assembled not only large labor intensity, low efficiency, and in assembling process
It often will appear and make a mistake, finished product rate is very low.
Fine accessory is assembled by the positioning of vision, is demarcated using perfect systematic error and is adopted to improve the image of camera
Collect performance, and requirement of the system for mechanical equipment precision can be greatly reduced, to improve the assembly precision of system.
The imaging model of camera is exactly to portray entire imaging process, i.e. subject spatial point to photo with mathematical formulae
Geometric transform relation between imaging point.
Generally, camera imaging can be divided into four steps: rigid body translation (from world coordinate system to camera coordinates system), thoroughly
Depending on projection (from camera coordinates system to ideal image coordinate system), distortion correction (from ideal image coordinate system to true picture coordinate
System) and digitized image (from true picture coordinate system to digitized image coordinate system).
World coordinate system: the absolute coordinate system of objective three-dimensional world, also referred to as objective coordinate system.Because digital camera is placed in
In three-dimensional space, it would be desirable to which this frame of reference of world coordinate system describes the position of digital camera, and is retouched with it
The position for placing other any objects in this three-dimensional environment is stated, indicates its coordinate value with (X, Y, Z).
Camera coordinates system (optical center coordinate system): using the optical center of camera as coordinate origin, X-axis and Y-axis are respectively parallel to image
The optical axis of the X-axis and Y-axis of coordinate system, camera is Z axis, indicates its coordinate value with (Xc, Yc, Zc).
Image coordinate system: using the center of ccd image plane as coordinate origin, X-axis and Y-axis are respectively parallel to the plane of delineation
Two vertical edges indicate its coordinate value with (x, y).Image coordinate system is to indicate pixel in image with physical unit (such as millimeter)
In position.
Pixel coordinate system: using the top left corner apex of ccd image plane as origin, X-axis and Y-axis are respectively parallel to image coordinate
The X-axis and Y-axis of system indicate its coordinate value with (u, v).The image of digital camera acquisition is the shape to form standard electric signal first
Then formula is transformed to digital picture by analog-to-digital conversion again.The storage form of each image is the array of M × N, the figure of M row N column
What the numerical value of each of picture element represented is the gray scale of picture point.Such each element is pixel, and pixel coordinate system is just
It is the image coordinate system as unit of pixel.
For camera calibration, existing more common and mature technology is the Zhang Zhengyou calibration for pinhole camera model
Algorithm, can calibrate the inside and outside ginseng of camera by gridiron pattern scaling board, and the calibration function of the tool box MATLAB and OpenCV are equal
The calibration process can be achieved.
And these camera calibration algorithms can only be directed to common lens.
For common pinhole camera target object closer to camera lens (operating distance is shorter), imaging is bigger.Using general
When logical camera lens carries out visual identity, there are the following problems for meeting: 1. since object being measured is not in the same measurement plane, and causes
The difference of enlargement ratio.2. lens distortion is big.3. there are parallaxes namely when object distance becomes larger, the amplification factor of object is also changed
Become.4. the resolution of camera lens is not high.5. due to the geometrical property of vision light source, and caused by image edge location it is uncertain
Property.
The robot system of vision is had for one, all information that camera obtains are described under camera coordinates system
's.The information for allowing robot to be obtained according to vision system, what the first step to be done be exactly determine camera coordinates system and robot it
Between mutual alignment relation, here it is the research contents of Robotic Hand-Eye Calibration.
For the hand and eye calibrating of robot, directly allows mechanical arm to move two positions in space, guarantee the two positions
Down it can be seen that scaling board.Then spatial alternation circuit AX=XB is constructed, trick relationship is acquired.
Robot system is the mobile lathe of three axis, it can only be translated on tri- directions xyz, can not picture
The arbitrary motion in space may be implemented in the mechanical arm of robot like that, so the phase of Zhang Zhengyou calibration for cameras and lathe cannot be used
Mutual positional relationship.
It, can be by way of translating platform come the phase of calibration for cameras and platform according to the kinetic characteristic that lathe can only translate
To relationship.One classical self-calibrating method of comparison is one known reference object of placement on platform, passes through control platform edge
Three non-co-planar direction translations three times, obtain platform exercise data from controller, then shoot Reference by camera to calculate
Caused camera motion.Camera can be acquired with the spin matrix of platform coordinate system in three dimensions by following formula:
tp=Rtc
In formula, tpFor the platform vector that orthogonal translation forms three times, tp=(tp1,tp2,tp3)；tcFor the camera being calculated
The vector t of composition is translated three timesc=(tc1,tc2,tc3).But tpAnd tcIt is common lens just obtainable parameter, if using it
His camera lens, then can not determine camera lens tpAnd tc, to cause to cannot achieve camera calibration.And it is much directed to vision and machine at present
The calibration of device is all the two-dimensional coordinate system conversion considered, has ignored many installation errors, cause stated accuracy not high.
Summary of the invention
Bilateral telecentric lens are able to use the purpose of the present invention is to provide one kind and carry out Image Acquisition, and to bilateral
Camera and lathe, the camera and camera of telecentric lens carry out Accurate Calibration, and assembly precision is made to reach micron-sized sound film top dome certainly
Dynamic assembly system.
A kind of sound film top dome automatic setup system, including lathe, top dome camera and sound film camera, setting sound film is put on lathe
It sets station and top dome places station, lathe has the manipulator that can obtain top dome, and the crawl section of manipulator is sucker, and lathe drives
Dynamic manipulator along X-axis, Y-axis and or Z axis translation, manipulator rotation about the z axis, top dome camera shoot top dome and or machine from bottom to top
Tool hand, sound film camera shoot machine-tool platform face and or sound film from the top down；Manipulator it is relatively fixed with sound film camera and it is synchronous fortune
It is dynamic；Automatic assembling executes following process:
Lathe drives manipulator to be moved to top dome tooling position crawl top dome；Sound film camera is moved to above sound film station,
It takes pictures to sound film and obtains sound film image, obtain the pixel coordinate of the sound membrane edge frame and sound membrane edge frame characteristic point in sound film image；Make
Manipulator of the lathe driving with top dome is mobile and is maintained above top dome camera, and top dome camera, which is taken pictures, obtains top dome image, obtains
Obtain the pixel coordinate of the top dome frame and top dome bounding box features point in top dome image, top dome bounding box features point and sound film bounding box features
Point has assembly corresponding relationship；Assembly corresponding relationship refer to sound film and top dome in assembly, top dome bounding box features point and sound membrane edge
Frame characteristic point has one-to-one relationship, for example, the midpoint of top dome frame is overlapped with the midpoint of sound membrane edge frame, top dome frame
Upper sideline midpoint is overlapped with the upper sideline midpoint of sound membrane edge frame, herein on refer to top dome frame sideline and sound membrane edge frame edges
Position correspondence, be not offered as absolute orientation.
By the top dome frame centering of the sound membrane edge frame of sound film image and top dome image, judge that sound membrane edge frame is with top dome frame
It is no to meet installation requirement, if meeting, next step operation is carried out, if not meeting, obtains top dome and needed for sound film smoothly installs
Rotational angle, the rotational angle be the rotational angle of manipulator about the z axis.
The pixel coordinate of sound membrane edge frame characteristic point is converted into sound film coordinate of the sound film camera under lathe coordinate system, is converted
Relationship are as follows: W_film=R_film^ (- 1) * A_film^ (- 1) * uv_film (spin matrixIt is interior
Join matrix)；The pixel coordinate of top dome bounding box features point is converted into top dome camera under lathe coordinate system
Top dome coordinate, transformational relation are as follows: W_dome=R_dome^ (- 1) * A_dome^ (- 1) * uv_dome (spin matrixInternal reference matrix)；Top dome camera and sound film camera are calculated in machine coordinates
Vector difference Δ x, Δ y under system, the relative position between vector difference expression sound film camera and top dome camera.
Machine-Tool Control manipulator contacts manipulator with sound film along Z axis translation, top dome, machine by vector difference mobile Δ x, Δ y
Tool hand discharges top dome.
Further, the method for the sound membrane edge frame in acquisition sound film image includes:
Step 1, the image procossing of gray processing is carried out to the picture of the sound film camera picture obtained and the acquisition of top dome camera；
Step 2, in the picture that picture and top dome camera that sound film camera obtains obtain, rectangle area-of-interest is carried out
It extracts, to obtain rectangle area-of-interest (ROI)；
Step 3, it is carried out at the image of gray processing by the picture that the picture and top dome camera that obtain to sound film camera obtain
After reason, the gray level image that will acquire carries out binary conversion treatment, prepares to extract rectangle frame；
Step 4, the binary image of the binary image of sound film camera and top dome camera, there are many noises, by making
Algorithm is write with OpenCV and removes the lesser connected domain of black area, and opening operation is carried out to image, defines the core of opening operation
As the threshold value of binaryzation is negatively correlated, to remove flash removed；
Step 5, Canny edge detection is carried out to the image after opening operation, and carries out Hough line transformation, successively drawn in figure
Every line segment out；
Step 6, the minimum outsourcing rectangle of Hough line chart is asked by the minAreaRect function that OpenCV is provided, and
The part rectangle frame for needing to assemble is drawn in the original image of sound film camera and the original image of top dome camera.
Further, the method for obtaining the rotational angle of manipulator about the z axis includes obtaining the centre coordinate of sound membrane edge frame, with
And using centre coordinate as origin, origin-sound membrane edge frame angle point line and X-axis or the sound film bias angle theta 1 of Y-axis, records photographing sound film
When machine coordinates (x1,y1)；The centre coordinate of top dome frame is obtained, and using centre coordinate as origin, origin-top dome frame
The top dome bias angle theta 2 of the line of angle point and X-axis or Y-axis, machine coordinates (x when records photographing top dome2,y2)；By top dome frame
Characteristic point pixel coordinate is transformed under lathe coordinate system, and the characteristic point pixel coordinate of sound membrane edge frame is transformed into lathe coordinate system
Under, it is overlapped the center of sound membrane edge frame with the center of top dome frame, calculates the difference of sound film drift angle and top dome drift angle, which is
The rotational angle of manipulator about the z axis.
Further, the calculation method of top dome sound film relative position are as follows:
The machine coordinates (x ', y ') of sound film are as follows:
X '=xc1+x1
Y '=yc1+y1；
The machine coordinates (x ", y ") of top dome are as follows:
X "=xc2+Δx+x0
Y "=yc2+Δy+y0；
Therefore top dome sound film relative position (dx, dy) are as follows:
Dx=x '-x "=xc1+x1-(xc2+Δx+x0)；
Dy=y '-y "=yc1+y1-(yc2+Δy+y0)。
Further, lathe includes the mobile mounting plate of four axis precision of pedestal, manipulator, sound film image acquisition component and top dome
Image collection assembly and sound film frock module and top dome frock module；Four axis precisions move mounting plate, the acquisition of sound film image
Component and top dome image collection assembly, sound film frock module and top dome frock module are set to pedestal.
Further, the mobile mounting plate of four axis precisions includes X-axis guide rail, Y-axis guide rail and Z axis guide rail；X-axis guide rail is fixed on
Pedestal, Y-axis guide rail are movably installed on X guide rail, and Z axis guide rail is movably installed on Y-axis guide rail；Z axis guide rail has sliding block, sliding
Manipulator and sound film camera are installed on block.
Further, sound film camera is configured with sound film light source, and or top dome camera be configured with top dome light source.
Further, manipulator includes pedestal, vacuum chuck and shaft, and vacuum chuck is set to shaft one end and same with shaft
Axis, pedestal and sound film camera are relatively fixed, and shaft is set to pedestal, and shaft is connected with rotary drive.
The present invention has the advantages that
1. image procossing based on bilateral telecentric lens is fitted sound film-top dome rectangle frame, error existing for perfect system,
The image-capable of camera is improved, and requirement of the system for mechanical equipment precision, the dress of system can be greatly reduced
0.03mm or so is increased substantially with precision, to realize the assembly precision requirement of system.
Detailed description of the invention:
Fig. 1 is schematic structural view of the invention.
Fig. 2 is the procedure chart of top dome sound film automatic assembling.
Fig. 3 is bilateral telecentric lens optical path.
Fig. 4 is the measurement accuracy table of the telecentric lens of different distortion camera models.
Fig. 5 is virtual gridiron pattern coordinate diagram.
Fig. 6 is virtual gridiron pattern pixel coordinate diagram.
Fig. 7 is the gray processing+ROI extraction figure of sound film picture.
Fig. 8 is sound film binary picture.
Fig. 9 is opening operation+Hough line Transformation Graphs of sound film picture.
Figure 10 is the sound film rectangle block diagram extracted.
Figure 11 is the top dome rectangle block diagram extracted.
Figure 12 is sound film top dome installation diagram.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only section Example of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without making creative work all should belong to what the present invention protected
Range.
Sound film-top dome automatic setup system vision-based detection skill based on bilateral telecentric lens that the present embodiment provides a kind of
Art.
As shown in Figure 1, including three-axis moving system, three-axis moving system (1) includes X-axis, Y-axis and Z axis, and Z axis is equipped with machine
It tool hand and takes pictures component (3) with sound film, sound film component (3) of taking pictures includes sound film camera, telecentric lens and light source, manipulator
(2) vacuum chuck (4) are equipped with, platform is equipped with below Z axis, there is platform sound film rest area (5) and the top dome on the right side of it to put
It sets area (6) and the top dome below platform is taken pictures component (7), top dome component of taking pictures includes top dome camera, telecentric lens and light
Source, top dome component (7) of taking pictures are located at below platform (8) and take pictures upwards.
In the present embodiment, sound film camera and top dome camera are all made of 5,000,000 pixel industrial cameras, it is ensured that enough visual fields
(30mm × 30mm) and high-resolution (about 0.009mm/ pixel), sound film camera and top dome camera use telecentric lens.
Now widely used common pinhole camera, target object is closer to camera lens (operating distance is shorter), imaging
It is bigger.When carrying out visual identity using common lens, there are the following problems for meeting: since object being measured is not in the same survey
Plane is measured, and causes the difference of enlargement ratio, lens distortion is big, and there are parallaxes namely when object distance becomes larger, and puts to object
Big multiple also changes, and the resolution of camera lens is not high, due to the geometrical property of vision light source, and caused by image edge location not
Certainty.
Telecentric lens used in sound film camera and top dome camera, can be significantly reduced the distortion of imaging system, be micron
Grade detection accuracy provides hardware guarantee, while the imaging system also has an advantage of the big depth of field, and it is stable clear to guarantee that image has
Clear degree and amplification factor, so that it is guaranteed that the stability of data acquisition.
As an embodiment, manipulator and sound film camera are installed on lifter plate simultaneously, and lifter plate, which is fixed on Z axis, leads
Rail, platform are provided with hole, and top dome component of taking pictures is located at the lower section in hole and the lower section of platform, and top dome takes pictures component to above platform
Shoot image.
Hole is equipped with glass plate, and the regular shape or irregular such as the shape in hole can be square, rectangle, generally
The shape in situation hole is circle.
Top dome camera is taken pictures upwards through glass, and installation glass is that foreign matter is fallen into hole in order to prevent, influences to take pictures,
Sound film takes pictures the light source in component using the parallel blue light of bar shaped low angle, can be recognized accurately sound film folding line, and with other light
Interference is distinguished.
As an embodiment, top dome takes pictures the light source in component can using axis light mode using axis light mode
Top dome profile is accurately identified out, top dome position needs to be adjusted to suitable position to be equipped with sound film, adjustment mode
Using iterative convergence calculation method, constantly newly it is worth with the old value recursion of variable through repetitive operation and is accurately calculated.
The present embodiment uses bilateral telecentric lens, and in certain object distance range, obtained image enlargement ratio is not
It can change, therefore the image that this camera lens is taken does not have near big and far smaller relationship, is illustrated in figure 3 the light of bilateral telecentric lens
Road, in figure, u is object distance, and v is image distance, and f1 and f2 are the focal length of two camera lenses, and diaphragm is placed in the focal point of two camera lenses, it
Make to pass in and out the light of camera lens to be directional light, remaining light is blocked by diaphragm.
The characteristics of bilateral telecentric lens, is that object is close far away or camera does not affect amplification factor closely far away, so
It is widely applied to machine vision metrology detection field.Different from the perspective projection of pinhole camera, telecentric lens execution is just traded
Shadow, this generates the geometrical models of the projection different from pinhole camera, and therefore, many existing calibration methods are not suitable for telecentricity
Camera lens.
Lathe-camera angle deviation calibration generally has ignored the mounting shift angle of camera in traditional industry production, but is real
The precision assembly of existing small part such as sound film, top dome, required precision is micron level, and only not can guarantee camera accurate for installation by hand
Ground guarantees detection and localization below therefore, it is necessary to find out the mounting shift angle between lathe and camera by calibration perpendicular to platform
Precision.
As an embodiment, the robot system of vision is had for one, all information that camera obtains all are
It is described under camera coordinates system, robot to be allowed to obtain information according to vision system, what the first step to be done is exactly to determine camera
Mutual alignment relation between coordinate system and robot directly allows mechanical arm to transport in space the hand and eye calibrating of robot
Two positions are moved, are guaranteed under the two positions it can be seen that scaling board, then constructs spatial alternation circuit AX=XB, Ji Keqiu
Obtain trick relationship.
In the present embodiment, since sound film-top dome automatic assembling apparatus is the mobile lathe of three axis, it can only be
X, y, z is translated on three directions, can not the mechanical arm of machine people the arbitrary motion in space, institute may be implemented like that
The mutual alignment relation of lathe and camera cannot be demarcated with the method.
As an embodiment, the kinetic characteristic that can only be translated according to lathe under normal conditions considers flat by translation
The mode of platform carrys out the relativeness of calibration for cameras and platform, and a classical self-calibrating method of comparison is that one is placed on platform
Known reference object is translated three times along three non-co-planar directions by control platform, obtains platform exercise data from controller, then
Reference is shot by camera to calculate caused camera motion, passes through the platform vector that orthogonal translation forms three times and phase
The vector that machine translates composition three times acquires camera and the spin matrix of platform coordinate system in three dimensions.
The present embodiment is using bilateral telecentric lens, its imaging is there is no near big and far smaller, therefore telecentric lens is outer
Ginseng can not determine, you can't get therefore cannot be demarcated using this method for the translation vector of camera.
Many calibration for being directed to vision and machine at present are all the two-dimensional coordinate system conversions considered, have ignored many installations
Error causes stated accuracy not high.
The precision assembly high-precision requirement of automatic assembling apparatus in the present embodiment, therefore propose the three-dimensional for establishing space
The scaling method of coordinate system transformational relation, the camera model that the present embodiment uses is BT-2324.
Sound film camera and manipulator are installed on Z axis guide rail, can move up and down along Z axis guide rail, therefore take admittedly in platform
Calibration fixed point.
As shown in Fig. 2, sound film top dome automatic setup system executes following steps:
Step 1, three-axis moving system drives manipulator, and by the vacuum chuck on manipulator, on tooling platform
Top dome tooling position grabs top dome, moves to sound film picture-taking position, is taken pictures from top to bottom by sound film camera and obtain sound film image；
Step 2, computer control system reads the sound film image that sound film camera obtains, and calculates sound film location angle ginseng
Number；
Step 3, three-axis moving system drives the top dome that is grabbed of vacuum chuck on manipulator, moves to top dome and takes pictures position
It sets, is taken pictures from the bottom up by top dome camera and obtain top dome image；
Step 4, computer control system reads the top dome image that top dome camera obtains, and calculates top dome position angle ginseng
Number；
Step 5, judge whether sound film location angle parameter and top dome position angle parameter are equal, if equal calculating top dome
Sound film relative position rotates top dome if unequal, reacquires top dome image, calculates top dome position angle parameter, again
Judge whether angle parameter is equal；
Step 6, rigging position is moved to, linkage editor is executed, finally moves to home.
As an implementation, to based on bilateral telecentric lens sound film camera and top dome camera establish camera model,
Based on the camera model established, to obtain the transformational relation between world coordinate system and pixel coordinate system；The phase established
The purpose of machine imaging model be so that camera is taken pictures, the work of the field of visual inspection such as image recognition and scanning；Camera
The coordinate system of model includes: that world coordinate system (XwYwZw), camera coordinates system (XcYcZc), image coordinate system (xy) and pixel are sat
Mark system (uv).
Camera model established by the present invention includes:
1, undistorted camera model is established；
2, three-dimensional world coordinate system (XwYwZw) is transformed into camera coordinates system (XcYcZc)；
3, camera coordinates system (XcYcZc) is transformed into image coordinate system (xy)；
4, image coordinate system (xy) is transformed into two-dimensional pixel coordinate system (uv)；
5, calibration is carried out to parameter with marking plate and establishes undistorted camera model；
6, genuine camera model is lost according to the standard pixel coordinate calculation formula foundation of consideration distortion.
Preferably, it is a rotation+translation motion that world coordinate system, which goes to camera coordinates system, and transition matrix indicates as follows:
Preferably, camera coordinates system goes to the imaging process that image coordinate system is camera, and transition matrix indicates as follows:
Preferably, image coordinate system goes to the conversion that pixel coordinate system is a unit, and transition matrix indicates as follows:
Preferably, transition matrix (4.1), transition matrix (4.2), transition matrix (4.3) are multiplied together, obtain world's seat
The transformational relation of mark system and pixel coordinate system:
The parameter calibration of camera has used scaling board, and the scaling board of the present invention is gridiron pattern scaling board, each grid ruler
Very little is 1mm, which, which need to only clap a gridiron pattern, can calibrate the inside and outside parameter of camera, be obtained according to formula (4.2)
Gridiron pattern scaling board image coordinate system:
Preferably, formula (4.5) is write as to the form of matrix multiple:
Preferably, the formula (4.6) equation left side inside and outside parameter composition vector to solve, the vector by
Five unknown number compositions, so at least needing 5 equations that can just solve all unknown numbers；In order to guarantee the precision of calculated result,
All angle points of gridiron pattern totally 88 are had chosen, following equations are constituted:
Preferably, the coefficient matrix dimension on the above-mentioned equation left side is 88 × 5, and equation group quantity is much larger than 5, to change
At the solution of overdetermined equation:
ML=X (4.8)
The solution of overdetermined equation meets general equation:
MTML=MTX (4.9)
General equation (4.9) conversion is as follows, acquire vector L:
L=(MTM)-1MTX (4.10)
Camera multiplying power m is calculated in conjunction with formula (4.2) by the rotation that is calculated, translational component:
Solution obtains the inside and outside parameter of camera.
As a preferred option, it establishes and loses genuine camera model, there are mainly three types of distortion types, i.e. diameter for telecentric lens
To the distortion of eccentric and thin prism.In order to guarantee stated accuracy, that establishes consideration lens distortion loses true camera model, wherein k1
It is coefficient of radial distortion, h1, h2 are decentering distortion coefficients, and s1, s2 are thin prism distortion factor, xu,yuFor the undistorted phase of front
The pixel coordinate that machine model calculates, xd,ydTo consider the later standard pixel coordinate that distorts, here is the official portrait for considering distortion
Plain coordinate calculation formula:
When pixel coordinate is converted into camera coordinates, pixel coordinate uses (xd,yd)。
Lose the nonlinear optimization of true camera model:
By solving the minimum value of re-projection error, objective function, the inside and outside ginseng of iteration optimization and distortion factor, target are established
Function are as follows:
P in formulaiIt is the pixel coordinate of the picture shot by camera,It is to be established by formula (4.4), (5.1) without mistake
The pixel coordinate that true camera model is calculated.Above formula is iterated optimization by Levenberg-Marquardt (LM) algorithm.
Rotation, translation parameters initial value be that front undistorted camera model solves, the initial value of lens distortion parameter takes 0.
There are some differences, the iterative formulas of gauss-newton method with Gauss-Newton optimization algorithm for LM algorithm are as follows:
It is led for single order of the objective function to each variable, Hf(xn)-1It indicates directly in the derivative of gradient vector.This two
The product of a amount is exactly the step delta of each iteration, is rewritten as the form of matrix multiple:
Δ=- (Jf T.Jf)-1.Jf T.f (6.3)
G=2J in formulaf TIt .f is Jacobian matrix, H ≈ 2JfT .JfFor Hessian matrix.
LM algorithm is that an adjustable damping parameter λ, iteration step length Δ k are increased on the basis of gauss-newton method are as follows:
Δ k=- (Jf T.Jf+λ)-1.Jf T.f (6.4)
In LM method, take the rule of increment as follows:
The initial value of λ is set as 0.0001, if the solution Δ k of Incremental Equation reduces objective function f, just receives this λ, and under
λ is replaced using λ/10 in an iteration.If the solution Δ k of the corresponding Incremental Equation of λ value increases f, just give up this λ, and by its
It replaces with 10 λ and solves Incremental Equation again.It moves in circles until f decline.
LM has the advantages that Newton method and gradient method simultaneously.When λ very little, step-length is equal to Newton method step-length, when λ is very big
When, step-length is approximately equal to the step-length of gradient descent method.
Obtain the calibration result of different cameral model:
Obtain the measurement accuracy of the telecentric lens of different distortion camera models:
As an implementation, lathe-camera angle deviation scaling method, comprising the following steps: the automatic dress of installation
Match system, automatic setup system include three-axis moving system and platform, and three-axis moving system and platform constitute lathe, sound film camera
It is installed on three-axis moving system, chooses the fixation mark point p on platform, is established using fixation mark point as the machine coordinates of origin
System.
In the embodiment step, fixation mark point is denoted as p1, control three-axis moving system is mobile, establishes virtual chessboard
Lattice are obtained using fixation mark point as the virtual tessellated machine coordinates of origin；Meanwhile sound film camera shoots fixation mark point,
Obtain multiple continuous pictures.
In the embodiment step 2, control three-axis moving system makes camera form a size 4 × 3 in space plane
Virtual gridiron pattern, grid size is 1mm, as shown in figure 4, obtaining fixation mark point according to virtual tessellated machine coordinates
Machine coordinates；According to multiple continuous pictures, the pixel coordinate of fixation mark point is obtained.
In the embodiment step in step 3, since movement is opposite, the machine coordinates of mark point p1 and virtual chessboard
The machine coordinates of lattice are about origin symmetry, to obtain the machine coordinates of mark point p1, the every shifting of three-axis moving system moves a step, phase
Mark point p1 of machine track up, needs to guarantee mark point p1 in camera fields of view, and three-axis moving system moves 12 steps,
Obtain 12 continuous pictures containing mark point p1.
In the present embodiment, the method for obtaining the pixel coordinate of mark point p1 is: first by canny operator extraction chessboard
Then the straight line of image border is extracted in the image border of trrellis diagram piece using Hough algorithm, examined using straight-line intersection to full figure angle point
It surveys result to be filtered, is finally reached and reliably and accurately extracts tessellated angular coordinate in all images automatically, thus
To the pixel coordinate of mark point p1, as shown in Figure 5 and Figure 6.
The pixel coordinate of fixation mark point is transformed under camera coordinates system by the internal reference matrix of sound film camera, consolidate
Determine the camera coordinates of mark point.
In the embodiment step in step 4, the expression formula of sound film camera internal reference matrix are as follows:
Wherein, m is the multiplying power of sound film camera, and u is the object distance of sound film camera, and v is the image distance of sound film camera.
Overdetermined equation is established, brings the machine coordinates of fixation mark point and camera coordinates into overdetermined equation, solution is consolidated
Determine the transition matrix of lathe coordinate system locating for mark point and camera coordinates system, is deposited between specific camera coordinates and machine coordinates
In rotation+translation relationship, transition matrix is as follows:
Write above formula as equation group form:
Xc=r11Xt+r12Yt+tx
Yc=r21Yt+r22Yt+ty (7.2)
In order to seek rotation translation parameters, need for it to be individually expressed as a vector, therefore formula (7.2) can be converted into again
Following representation:
It is the camera coordinates of fixation mark point p1 in formula, is the machine coordinates of mark point, respectively rotation parameter, X-axis
Translation parameters, the translation parameters of Y-axis.
In above-described embodiment, the calibration of lathe-camera angle deviation is mobile for sound film camera, mark point is fixed
Situation.As another embodiment, then the situation that top dome camera is fixed, mark point is mobile is directed to.
As an implementation, lathe-camera angle deviation scaling method, comprising the following steps: the automatic dress of installation
Match system, automatic assembling system include three-axis moving system and platform, and three-axis moving system and platform constitute lathe.
Three-axis moving system is equipped with manipulator, and top dome camera is set to platform, chooses the movement indicia being located on manipulator
Point；It is mobile to control three axle systems, establishes virtual gridiron pattern, obtains virtual tessellated machine coordinates；According to virtual tessellated
Machine coordinates obtain the machine coordinates of movement indicia point.
Movement indicia point is denoted as p2 by step 1 and step 2 according to this embodiment, and movement indicia point p2 is set to manipulator
End, in space plane when the virtual gridiron pattern of mobile building, the every shifting of three-axis moving system moves a step the movement of three-axis moving system,
Camera shoots a movement indicia point p2, since movement indicia point p2 follows three-axis moving system while mobile, virtual chess
The machine coordinates of disk lattice are the machine coordinates of movement indicia point p2.
Top dome camera shoots movement indicia point, obtains multiple continuous pictures, according to multiple continuous pictures, is moved
The pixel coordinate of mark point.
The method of step 3 according to this embodiment, the pixel coordinate for the acquisition movement indicia point p2 that the present embodiment uses is: logical
The image border of canny operator extraction gridiron pattern picture is crossed, the straight line of image border is then extracted using Hough algorithm, is utilized
Straight-line intersection is filtered full figure Corner Detection result, is finally reached and reliably and accurately extracts chessboard in all images automatically
The angular coordinate of lattice, to obtain the pixel coordinate of movement indicia point p2, as shown in Figure 5 and Figure 6.
The pixel coordinate of movement indicia point is transformed under camera coordinates system by internal reference matrix, obtains movement indicia point
Camera coordinates.
Step 4 according to this embodiment, the expression formula of internal reference matrix are as follows:
Wherein, m is the multiplying power of camera, and u is the object distance of camera, and v is the image distance of camera.
Overdetermined equation is established, brings the machine coordinates of movement indicia point and camera coordinates into overdetermined equation, solution is moved
The transition matrix of lathe coordinate system and camera coordinates system locating for dynamic mark point.
The expression formula of step 5 according to this embodiment, transition matrix is as follows:
In formula, (Xci,Yci) be movement indicia point camera coordinates, (Xti,Yti) be movement indicia point machine coordinates i=
1,2,3 ... n；tx、tyRespectively translation parameters and rotation parameter.
There are rotation+translation relationship between the camera coordinates and machine coordinates of acquisition, transition matrix is as follows:
Write formula (7.1) as equation group form:
Xc=r11Xt+r12Yt+tx
Yc=r21Yt+r22Yt+ty (7.2)
In order to seek rotation and translation parameter, need for equation to be individually expressed as a vector, therefore formula (7.2) again can be with
It is converted into following representation:
In formula, (Xci,Yci) be movement indicia point camera coordinates, (Xti,Yti) be movement indicia point machine coordinates, i=
1,2,3 ... n；tx、tyRespectively translation parameters, r11、r12、r21、r22Respectively rotation parameter, the coefficient square on equation (7.3) left side
Battle array dimension is 24 × 6.
There are errors for assembly between camera-camera, it is therefore desirable to by marking to the relative position between camera-camera
Fixed, the relative position scaling method between camera-camera is the following steps are included: installation automatic setup system, automatic setup system
Including three-axis moving system and transparent platform, three-axis moving system and transparent platform constitute lathe, and two cameras of label are respectively
Sound film camera and dome camera, film camera are installed on three-axis moving system, and dome camera is installed on transparent platform, transparent platform
Place clear mark plate；The downward shot mark plate of film camera, the upward shot mark plate of dome camera, obtain film camera and
The gridiron pattern picture of dome camera shooting, is denoted as film gridiron pattern picture and dome gridiron pattern picture respectively.
Extract film gridiron pattern picture and dome gridiron pattern picture X-comers, obtain film X-comers and
The pixel coordinate of dome X-comers calculates separately the spin matrix of film camera, dome camera and lathe, by converting square
The pixel coordinate of respective X-comers is transformed under lathe coordinate system by battle array, obtains film gridiron pattern and dome X-comers
Machine coordinates.
The multiple corresponding angle points for choosing film camera and dome camera machine coordinates, establish film camera coordinates vector sum
Dome camera coordinates vector obtains relative position Δ x, Δ y between film camera and dome camera.
In the present embodiment, Δ x, the preparation method of Δ y are as follows: film camera coordinates vector sum dome camera coordinates are to measurer
Have n dimension, two camera dimensions are identical, find out film camera coordinates vector sum dome camera coordinates vector correspondence dimension it
Difference sums to the difference of all corresponding dimensions, and last averaging, average is Δ x, Δ y.
In the present embodiment, the dimension of film camera coordinates vector sum dome camera is 1*16, and to solve Δ x, Δ y is
Example sums to the parameter in vector by sum function, and then divided by angle point quantity, obtained Δ x, Δ y are that two cameras exist
Coordinate difference on the direction x, Δ x, the method for solving of Δ y is similarly.
As another embodiment, the relative position scaling method between camera-camera, comprising the following steps: installation is certainly
Dynamic assembly system, automatic setup system includes three-axis moving system and transparent platform, and two cameras of label are respectively film camera
With dome camera, film camera is installed on three-axis moving system, and dome camera is installed on platform, and transparent platform places transparent have
The picture of marker；The downward shot mark plate of film camera, the upward shot mark plate of dome camera obtain film camera and dome
The gridiron pattern picture of camera shooting, is denoted as film gridiron pattern picture and dome gridiron pattern picture respectively.
Image preprocessing is carried out to film gridiron pattern picture and dome gridiron pattern picture, pretreated picture is obtained, mentions
Pretreated picture feature point pixel coordinate is taken, characteristic point pixel coordinate is matched, obtains pair between two width pictures
Answer characteristic point pixel coordinate.
Then the transition matrix for calculating separately film camera, dome camera and lathe, by transition matrix by corresponding spy
Sign point pixel coordinate is transformed under lathe coordinate system, is obtained the machine coordinates of character pair point, is calculated character pair point in lathe
Relative position under coordinate system.
The image procossing of the present embodiment, after being completed to the relative position calibration between lathe-camera, camera-camera,
The sound film and top dome two obtain to film camera and dome camera is opened image and is handled.
Image processing method, comprising the following steps: step 1 obtains image, to image gray processing processing, obtains gray processing figure
Picture；Image of the step 2 to gray level image binary conversion treatment, after obtaining binary conversion treatment；The purpose of binaryzation is to mention below
Rectangle frame is taken to prepare；Step 3 carries out opening operation to the image of binary conversion treatment, the image after obtaining opening operation；It is opened with definition
The value of operation is negatively correlated with the threshold value of binaryzation, it is intended that removes flash removed；Step 4 carries out the image after opening operation
Canny edge detection carries out the transformation of Hough line, and every line segment is successively drawn in figure, obtains Hough line chart；Step 5 passes through
MinAreaRect function seeks the minimum outsourcing rectangle of Hough line chart, and rectangle frame is drawn in original image, obtains image rectangle
Frame.
Write the lesser connected domain of black area in the image after algorithm removes binary conversion treatment using OpenCV, this be because
Still remaining many noises for the image after binary conversion treatment is influencing image quality, as shown in Figure 7.
Gray processing processing is carried out to colored sound film image, after gray processing, the gray level image that will acquire carries out binaryzation
Processing, the purpose of binaryzation is to extract rectangle frame below and preparing.It is illustrated in figure 8 the later picture of binaryzation, can be seen
To the image for binaryzation, there is also many noises, and by making OpenCV write algorithm, to remove black area lesser here
Connected domain.
Opening operation is carried out to image, defines the value of opening operation as the threshold value of binaryzation is negatively correlated, it is therefore an objective to remove defeathering
Then thorn carries out Canny edge detection to the image after opening operation again, carry out the transformation of Hough line, every is successively drawn in figure
Line segment, as shown in Figure 9.
The minimum outsourcing rectangle of Hough line chart is sought by the minAreaRect function that OpenCV is provided, and in original image
In draw rectangle frame, as shown in Figure 10 and Figure 11.
The present embodiment is in the method for verifying sound film top dome assembly precision, to the position between lathe-camera, camera-camera
It sets after being demarcated, verifies sound film-top dome assembly precision.
Verify sound film-top dome assembly precision method, comprising the following steps: step 1 records film camera and dome camera pair
Machine coordinates (x when bat0,y0)；Step 2 vacuum chuck draws top dome, and control three-axis moving system moves to sound film picture-taking position,
Machine coordinates (x when records photographing sound film1,y1)；Step 3 obtains sound film image by film camera, obtains sound to image procossing
Centre coordinate (the x of film rectangle framec1,yc1) and bias angle theta 1；Step 4 control three-axis moving system moves to top dome picture-taking position, records
Shoot machine coordinates (x when top dome2,y2)；Step 5 obtains top dome image by dome camera, obtains top dome square to image procossing
Centre coordinate (the x of shape framec2,yc2) and bias angle theta 2；Sound film rectangle frame and top dome rectangle frame are transformed into lathe coordinate system by step 6
Under, the bias angle theta of two rectangle frames is calculated, by control rotation angle until equal with the rectangle frame angle point of sound film top dome, calculating
Top dome rectangle frame centre coordinate (x outc2,yc2)；Step 7 calculates top dome, sound film relative position.
The machine coordinates (x ', y ') of sound film are as follows:
X '=xc1+x1
Y '=yc1+y1 (10.1)
The machine coordinates (x ", y ") of top dome are as follows:
X "=xc2+Δx+x0
Y "=yc2+Δy+y0 (10.2)
Top dome sound film relative position (dx, dy) are as follows:
Dx=x '-x "=xc1+x1-(xc2+Δx+x0)
Dy=y '-y "=yc1+y1-(yc2+Δy+y0) (10.3)
Top dome, sound film are moved to rigging position and are assembled by step 8, are after sound film, that is, top dome is assembled as shown in figure 12
Picture, it can be seen that the effect of assembly is very accurate.By calculating, sound film top dome assembling deviation is about 3 pixels, precision
For 0.03mm or so, the assembly precision requirement of the system is realized.
It is perfect to be it is an advantage of the invention that image procossing based on bilateral telecentric lens is fitted sound film-top dome rectangle frame
Error existing for uniting, improves the image-capable of camera, and system can be greatly reduced for mechanical equipment precision
It is required that the assembly precision of system increases substantially 0.03mm or so, to realize the assembly precision requirement of system.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range should not be construed as being limited to the specific forms stated in the embodiments, and protection scope of the present invention is also and in art technology
Personnel conceive according to the present invention it is conceivable that equivalent technologies mean.
The all patents and publications mentioned in description of the invention all indicates that these are the public technology of this field, this hair
It is bright to can be used.All patents referred to herein and publication are all equally listed in bibliography, with each publication
It is specifically individually referenced the same.The present invention described here can lack any element or multiple element, and one
It is realized in the case where kind limitation or a variety of limitations, this limitation is not particularly illustrated here.Such as art in each example here
Language "comprising", " essence by ... form " and " by ... form " can be replaced with remaining 2 term of one of both.Here it adopts
Describing mode carried out by terms and expressions mode, and be not limited except as, also indicate that this book is described without any intention here
These terms and explain and eliminate any equivalent feature, but it is recognised that can be in the model of the present invention and claim
Any suitable be altered or modified is done in enclosing.It is appreciated that examples of implementation described in the invention are all some preferred implementations
Example and feature do some changes and change under the marrow that any those of ordinary skill in the art can describe according to the present invention
Change, these changes and variation are recognized as and belong to the scope of the present invention and independent claims and appended claims are limited
In the range of.
Claims (8)
1. sound film top dome automatic setup system, which is characterized in that automatic setup system includes lathe, top dome camera and sound film phase
Machine, setting sound film places station on lathe and top dome places station, and lathe has the manipulator that can obtain top dome, manipulator
Crawl section is sucker, lathe driving manipulator along X-axis, Y-axis and or Z axis translation, manipulator rotation about the z axis, top dome camera is under
To photographs top dome and or manipulator, sound film camera shoot from the top down machine-tool platform face and or sound film；Manipulator and sound film phase
Machine is relatively fixed and moves synchronously；Automatic assembling executes following process:
Lathe drives manipulator to be moved to top dome tooling position crawl top dome；Sound film camera is moved to above sound film station, to sound
Film, which is taken pictures, obtains sound film image, obtains the pixel coordinate of the sound membrane edge frame and sound membrane edge frame characteristic point in sound film image；Make lathe
Manipulator of the driving with top dome is mobile and is maintained above top dome camera, and top dome camera, which is taken pictures, obtains top dome image, obtains ball
The pixel coordinate of the top dome frame and top dome bounding box features point in image is pushed up, top dome bounding box features point and sound membrane edge frame characteristic point have
There is assembly corresponding relationship；
By the top dome frame centering of the sound membrane edge frame of sound film image and top dome image, judge whether sound membrane edge frame accords with top dome frame
It closes installation requirement and carries out next step operation if meeting, if not meeting, obtain top dome and sound film smoothly installs required turn
Dynamic angle, the rotational angle are the rotational angle of manipulator about the z axis；
The pixel coordinate of sound membrane edge frame characteristic point is converted into sound film coordinate of the sound film camera under lathe coordinate system, transformational relation
Are as follows: W_film=R_film^ (- 1) * A_film^ (- 1) * uv_film (spin matrixInternal reference square
Battle arrayThe pixel coordinate of top dome bounding box features point is converted into ball of the top dome camera under lathe coordinate system
Push up coordinate, transformational relation are as follows: W_dome=R_dome^ (- 1) * A_dome^ (- 1) * uv_dome (spin matrixInternal reference matrix)；Top dome camera and sound film camera are calculated in machine coordinates
Vector difference Δ x, Δ y under system, the relative position between vector difference expression sound film camera and top dome camera；
Machine-Tool Control manipulator contacts manipulator with sound film along Z axis translation, top dome, manipulator by vector difference mobile Δ x, Δ y
Discharge top dome.
2. sound film top dome automatic setup system according to claim 1, it is characterised in that: obtain the sound film in sound film image
The method of frame includes:
Step 1, the image procossing of gray processing is carried out to the picture of the sound film camera picture obtained and the acquisition of top dome camera；
Step 2, in the picture that picture and top dome camera that sound film camera obtains obtain, rectangle area-of-interest is mentioned
It takes, to obtain rectangle area-of-interest (ROI)；
Step 3, by the picture that the picture and top dome camera that obtain to sound film camera obtain carry out the image procossing of gray processing with
Afterwards, the gray level image that will acquire carries out binary conversion treatment, prepares to extract rectangle frame；
Step 4, the binary image of the binary image of sound film camera and top dome camera, there are many noises, by using
OpenCV writes algorithm and removes the lesser connected domain of black area, and carries out opening operation to image, define the core of opening operation with
The threshold value of binaryzation be negatively correlated, to remove flash removed；
Step 5, Canny edge detection is carried out to the image after opening operation, and carries out Hough line transformation, successively drawn in figure every
Line segment；
Step 6, the minimum outsourcing rectangle of Hough line chart is sought by the minAreaRect function that OpenCV is provided, and in sound film
The part rectangle frame for needing to assemble is drawn in the original image of camera and the original image of top dome camera.
3. sound film top dome automatic setup system according to claim 1 or 2, which is characterized in that obtain manipulator around z-axis
The method of rotational angle includes obtaining the centre coordinate of sound membrane edge frame, and using centre coordinate as origin, origin-sound membrane edge frame
The sound film bias angle theta 1 of the line of angle point and X-axis or Y-axis, machine coordinates (x when records photographing sound film1, y1)；Obtain top dome frame
Centre coordinate, and using centre coordinate as the top dome bias angle theta of origin, origin-top dome frame angle point line and X-axis or Y-axis
2, machine coordinates (x when records photographing top dome2, y2)；The characteristic point pixel coordinate of top dome frame is transformed into lathe coordinate system
Under, the characteristic point pixel coordinate of sound membrane edge frame is transformed under lathe coordinate system, the center of sound membrane edge frame and top dome frame are made
Center is overlapped, and calculates the difference of sound film drift angle and top dome drift angle, which is the rotational angle of manipulator about the z axis.
4. sound film top dome automatic setup system according to claim 1, which is characterized in that the meter of top dome sound film relative position
Calculation method are as follows:
The machine coordinates (x ', y ') of sound film are as follows:
X '=xc1+x1
Y '=yc1+y1；
The machine coordinates (x ", y ") of top dome are as follows:
X "=xc2+Δx+x0
Y "=yc2+Δy+y0；
Therefore top dome sound film relative position (dx, dy) are as follows:
Dx=x '-x "=xc1+x1-(xc2+Δx+x0)；
Dy=y '-y "=yc1+y1-(yc2+Δy+y0)。
5. sound film top dome automatic setup system according to claim 1, which is characterized in that lathe includes that four axis of pedestal is accurate
Mobile mounting plate, manipulator, sound film image acquisition component and top dome image collection assembly and sound film frock module and top dome
Frock module；Four axis precisions move mounting plate, sound film image acquisition component and top dome image collection assembly, sound film frock module
Pedestal is set to top dome frock module.
6. sound film top dome automatic setup system according to claim 5, which is characterized in that the mobile mounting plate of four axis precisions
Comprising X-axis guide rail, Y-axis guide rail and Z axis guide rail；X-axis guide rail is fixed on pedestal, and Y-axis guide rail is movably installed on X guide rail, Z axis
Guide rail is movably installed on Y-axis guide rail；Z axis guide rail has sliding block, and manipulator and sound film camera are equipped on sliding block.
7. sound film top dome automatic setup system according to claim 6, which is characterized in that sound film camera is configured with sound film light
Source, and or top dome camera be configured with top dome light source.
8. sound film top dome automatic setup system according to claim 6, which is characterized in that manipulator includes pedestal, vacuum
Sucker and shaft, vacuum chuck are set to shaft one end and coaxial with shaft, and pedestal and sound film camera are relatively fixed, shaft setting
In pedestal, shaft is connected with rotary drive.
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