CN110385889A - A kind of device and method of dynamic attachment vision-based detection and correction - Google Patents
A kind of device and method of dynamic attachment vision-based detection and correction Download PDFInfo
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- CN110385889A CN110385889A CN201810359314.9A CN201810359314A CN110385889A CN 110385889 A CN110385889 A CN 110385889A CN 201810359314 A CN201810359314 A CN 201810359314A CN 110385889 A CN110385889 A CN 110385889A
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Abstract
Present invention relates particularly to a kind of device and methods of dynamic attachment vision-based detection and correction；Include: data acquisition unit: the electrical connection of the input terminal of its output end and processing unit, for acquiring the image location data information of facial tissue and inner box；Processing unit: its output end and the input terminal of robot control unit are electrically connected, and are handled for the image location data information to collected facial tissue and inner box, and correction data and result are obtained；Robot control unit: it according to processing result, controls robot and is operated；The present invention effectively raises the technology acuracy of the process procedure, fully meets actual processing production requirement, can effectively save manually, improve the automatization level of existing production line；Suitable for industrial circle.
Description
Technical field
The invention belongs to mount the technical field of vision-based detection, and in particular to a kind of dynamic attachment vision-based detection and correction
Device and method.
Background technique
Gift box mounting line is constantly developed in groping.The primary stage of industry development relies primarily on pure craft
Production: artificial die sinking, artificial molding, is manually bonded, artificial integer artificial brush coating, and each station at least needs 3~5 people, and one
Sometimes for up to tens people on production line, just the rhythm of assembly line can be kept up with, the sea of faces is relied on substantially in order to improve yield
Tactics.With the raising of automatization level, currently, most of station all uses automanual ancillary equipment, it is automanual
Instead of pure artificial brush coating station, semi-automatic moulder equipment is not plastic roll machine equipment instead of pure artificial molding station
Whole stations can realize automation.Artificial fitting station mainly still relies on manual operations, but also is by skilled worker
The talent is able to satisfy technique requirement, and production efficiency is extremely low, and labor intensity is very big.
Also there are some full automatic mounting devices at present, the facial tissue or pedestal of glue will be brushed by conveyer belt, transmits
Then a certain distance is found the boundary position of positioning facial tissue or pedestal by fibre optical sensor, passes through machinery to bonding position
Carton inner box or workpiece are mounted on facial tissue or pedestal by hand, and the precision that this method reaches is limited, are not able to satisfy gift box
The requirement of high-precision technique.With the extensive use of vision technique, also there is scheme to replace Fibre Optical Sensor using the method for visual identity
The method of device positioning, but require the facial tissue to be identified or pedestal stops at fitting detection position, just can be carried out identification and
Attachment process, production efficiency is low, cannot effectively be compatible with original mounting line, and efficiency is low.
Summary of the invention
The present invention overcomes the shortcomings of the prior art, technical problem to be solved are as follows: provide it is a kind of conveyer belt not
In the case where pause, inner box is dynamically mounted on to the device and method of the attachment vision-based detection and correction of the dynamic on facial tissue.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows: a kind of dynamic attachment vision-based detection and entangle
Inclined device, it is characterised in that: include: data acquisition unit: the electrical connection of the input terminal of its output end and processing unit is used for
Acquire the image location data information of facial tissue and inner box；Processing unit: its output end and the input terminal of robot control unit electricity
Gas connection, is handled for the image location data information to collected facial tissue and inner box, obtains correction data and result；
Robot control unit: it according to processing result, controls robot and is operated.
Preferably, further includes: display unit: the electrical connection of the output end of its input terminal and processing unit is entangled for showing
Inclined data and result.
Preferably, the data acquisition unit includes: facial tissue camera: being arranged above facial tissue conveyer belt, is used for collection surface
The location drawing picture information of paper；Inner box camera: it is arranged in inner box conveyer belt and facial tissue conveyer belt infall, for acquiring the appearance of inner box
State image information.
Preferably, the processing unit includes CPU master controller, is provided with figure capture card in the CPU master controller.
Preferably, the robot control unit includes: servo-driver and the servo motor that is connected with servo-driver:
Control and position for joint of robot machinery adjust；Pneumatic element and the fixture being connected with pneumatic element: it is used for robot
Grab inner box；Encoder: being arranged in facial tissue conveyor belt surface, contacted by a device for disc with facial tissue conveyor belt surface, uses
Speed, location information in acquisition facial tissue transmission belt, fibre optical sensor: being installed on the top of facial tissue conveyer belt, is for detecting
It is no to there is facial tissue to pass through.
Preferably, the fixture includes sucker.
Correspondingly, a kind of method of dynamic attachment vision-based detection and correction, comprising: the picture position of acquisition facial tissue and inner box
The speed of data and transmission belt, location information；The image location data information of collected facial tissue and inner box is handled, is obtained
To correction data and result；According to processing result, controls robot and operated.
Preferably, further includes: display correction data and result.
Compared with the prior art, the invention has the following beneficial effects:
A kind of device and method of dynamic attachment vision-based detection and correction of the present invention, passes through facial tissue camera, inner box camera two
Platform industrial digital video camera respectively on the facial tissue and feed bin on conveyer belt inner box or workpiece carry out posture position detection and knowledge
Not, and control system is transferred data to, control system adjusts the posture position of inner box or workpiece according to calculated result, in guarantee
Box i.e. deflection angle spatially parallel with facial tissue is consistent, consistent in the offset of horizontal plane Y direction, in facial tissue moves to just
The underface of box or workpiece, the two, which starts to synchronize, to be moved and fits to inner box on facial tissue, is carried out after fitting next
A facial tissue is calculated with inner box posture position data and is bonded with synchronous, in this way, can be effectively solved static crawl inner box,
Dynamic is mounted on the process specifications on facial tissue, and takes the position ring tracking technique of conveyer belt, effectively raises
The technology acuracy of the process procedure fully meets actual processing production requirement, can effectively save manually, improve existing production
The automatization level of line.
Detailed description of the invention
The present invention will be further described in detail with reference to the accompanying drawing；
Fig. 1 is the structural representation for the device that a kind of dynamic that the embodiment of the present invention one provides mounts vision-based detection and correction
Figure；
Fig. 2 is the structural representation for the device that a kind of dynamic provided by Embodiment 2 of the present invention mounts vision-based detection and correction
Figure；
Fig. 3 is the structural representation for the device that a kind of dynamic that the embodiment of the present invention three provides mounts vision-based detection and correction
Figure；
Fig. 4 is the structural schematic diagram for the device that a kind of dynamic provided by the invention mounts vision-based detection and correction；
Fig. 5 is the structural representation for the device that a kind of dynamic that the embodiment of the present invention four provides mounts vision-based detection and correction
Figure；
Fig. 6 is the structural representation for the device that a kind of dynamic that the embodiment of the present invention five provides mounts vision-based detection and correction
Figure；
Fig. 7 is that the process for the method that a kind of dynamic that the embodiment of the present invention one provides mounts vision-based detection and correction is illustrated
Figure；
Fig. 8 is that the process for the method that a kind of dynamic provided by Embodiment 2 of the present invention mounts vision-based detection and correction is illustrated
Figure；
Fig. 9 is that the process for the method that a kind of dynamic that the embodiment of the present invention three provides mounts vision-based detection and correction is illustrated
Figure；
Figure 10 is that the process for the method that a kind of dynamic that the embodiment of the present invention four provides mounts vision-based detection and correction is illustrated
Figure；
Wherein: 101 be data acquisition unit, and 1011 be facial tissue camera, and 1012 be facial tissue conveyer belt, and 1013 be inner box phase
Machine, 1014 be inner box conveyer belt, and 102 be processing unit, and 1021 be CPU master controller, and 1022 be image pick-up card, and 103 be machine
Device people's control unit, 1031 be servo-driver, and 1032 be servo motor, and 1033 be pneumatic element, and 1034 be sucker, and 1035 are
Encoder, 1036 be fibre optical sensor, and 1037 be horizontal mechanical arm, and 104 be display unit.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments；Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is the structural representation for the device that a kind of dynamic that the embodiment of the present invention one provides mounts vision-based detection and correction
Figure, as shown in Figure 1, the device of a kind of dynamic attachment vision-based detection and correction, comprising:
Data acquisition unit 101: the input terminal of its output end and processing unit 102 is electrically connected, for acquire facial tissue and
The image location data information of inner box；
Processing unit 102: its output end and the input terminal of robot control unit 103 are electrically connected, the processing unit
102 are connected with robot control unit 103 by technologies such as networks or fieldbus, for collected facial tissue and inner box
Image location data information handled, obtain correction data and result；
Robot control unit 103: according to processing result, controlling robot and operated.
Fig. 2 is the structural representation for the device that a kind of dynamic provided by Embodiment 2 of the present invention mounts vision-based detection and correction
Figure, as shown in Fig. 2, on the basis of example 1, a kind of device of dynamic attachment vision-based detection and correction, further includes:
Display unit 104: the output end of its input terminal and processing unit 102 is electrically connected, for show correction data with
As a result；The display unit 104 includes display, and display mainly uses liquid crystal display or touching between 15 cun~22 cun
Touch display, for showing the image location data etc. of facial tissue and inner box identification, while can also by touching come operating software,
The debugging function of realization system.
Fig. 3 is the structural representation for the device that a kind of dynamic that the embodiment of the present invention three provides mounts vision-based detection and correction
Figure, Fig. 4 are the structural schematic diagram for the device that a kind of dynamic provided by the invention mounts vision-based detection and correction；Such as Fig. 3, Fig. 4 institute
Show, on the basis of example 2, the data acquisition unit 101 includes:
Facial tissue camera 1011: it is arranged above facial tissue conveyer belt 1012, for acquiring the location drawing picture information of facial tissue, mainly
Using ccd sensor camera, the general 500W or more of pixel is mainly used for facial tissue or pedestal when facial tissue conveyer belt 1012 passes through,
When reaching the lower section of facial tissue camera 1011, image information is passed through image pick-up card by the acquisition to the location drawing picture information of facial tissue
1022, be transferred to CPU master controller 1021 by modes such as networks, facial tissue camera 1011 can according to the difference of recognizer,
Reach certain 1011 visual field of facial tissue camera, facial tissue camera 1011 enabled to collect the image data of enough area size,
It is calculated for algorithm；The facial tissue conveyer belt 1012 is the conveyer belt with wind inlet, and facial tissue passes through the suction of facial tissue conveyer belt 1012
Air holes vacsorb makes facial tissue keep relatively fixed on facial tissue conveyer belt 1012, will not generate displacement and deflection, facial tissue easily
Taking pictures for camera 1011 can be the image of whole facial tissue, be also possible to the local topography formed with three sides, only
Meet the condition of the center point coordinate and deflection angle that calculate facial tissue and pedestal, inner box camera 1013 can clap once at
Picture can also be clapped and is imaged twice, as long as meeting the center position and deflection angle for calculating inner box or workpiece；
Inner box camera 1013: setting is located at inner box and conveys in inner box conveyer belt 1014 and 1012 infall of facial tissue conveyer belt
Between band 1014 and facial tissue conveyer belt 1012, for acquiring the pose presentation information of inner box, when in robot control unit 103
When horizontal mechanical arm 1037 picks up inner box, inner box camera 1013 can photograph the partially or completely image of inner box, just
In the calculating of algorithm.Ccd sensor camera is mainly used, pixel generally in 130W or more, is mainly used for manipulator and takes inner box
When, the acquisition to the pose presentation information of inner box passes through the modes such as network by pose presentation information by image pick-up card 1022
It is transferred to CPU master controller 1021, is calculated for algorithm.
Fig. 5 is the structural representation for the device that a kind of dynamic that the embodiment of the present invention four provides mounts vision-based detection and correction
Figure, as shown in figure 5, the processing unit 102 includes CPU master controller 1021, the CPU master on the basis of embodiment three
Transmission and the calculating of correction algorithm of the controller 1021 for image, and network communication is carried out with robot control unit 103,
The CPU master controller 1021 is mainly responsible for the fortune of vision software in 2G or more using Embedded industrial host, CPU frequency
Figure acquisition, the calculating of image processing algorithm of row, facial tissue camera 1011 and inner box camera 1013 execute, and control system with robot
The network communication function of system 103；It is provided with image pick-up card 1022 in the CPU master controller 1021, is used for facial tissue camera
1011 and inner box camera 1013 image information collecting, described image capture card 1022 passes through PCI or isa bus and CPU master
Controller 1021 is connected, and described image capture card 1022 is connected by network with facial tissue camera 1011, inner box camera 1013；It is described
CPU master controller 1021 is connected with display by VGA or HDMI wire, when display has touch screen, is then connect by USB
Mouth is connected with CPU master controller 1021.
Fig. 6 is the structural representation for the device that a kind of dynamic that the embodiment of the present invention five provides mounts vision-based detection and correction
Figure, as indicated with 6, on the basis of example IV, the robot control unit 103 includes:
Servo-driver 1031 and the servo motor 1032 being connected with servo-driver 1031: mechanical for joint of robot
Control and position adjust；
Pneumatic element 1033 and the fixture being connected with pneumatic element 1033: inner box is grabbed for robot；The fixture is used
In picking up inner box, including sucker 1034 but it is not limited to sucker 1034, generally using small-bore, diameter is less than the sucker 1034
The sucker 1034 of 20mm, arrangement 4~6 are applied in combination；
Encoder 1035: it is arranged on 1012 surface of facial tissue conveyer belt, passes through a device for disc and facial tissue conveyer belt 1012
Surface contact, encoder 1035 mainly by idler wheel or fifth wheel, are contacted with facial tissue conveyer belt 1012, pass through self weight and facial tissue
Rotation is realized in the friction of conveyer belt 1012, and the general encoder 1035 using more than 10,000 lines realizes robot control unit 103
The location Calculation of velocity measuring and position to facial tissue conveyer belt 1012, and to 103 feedback pulse data of robot control unit；
Port is two-way is connected for the acquisition of encoder 1035 of the encoder 1035 and robot control unit 103；The encoder 1035 is main
To use rotary encoder.
Fibre optical sensor 1036: fibre optical sensor 1036 is connected with the input port of robot control unit 103, mainly
Using reflective optical sensor 1036 or color mark sensor, it is installed on the top of facial tissue conveyer belt 1012, is for detecting
It is no to have facial tissue logical, when detecting that facial tissue passes through, by the count value of the encoder 1035 of record at that time, and facial tissue is calculated in real time
Travel distance takes pictures triggering facial tissue camera 1011 when entering visual field distance L1, and after the completion of taking pictures, system again will record
The count value of encoder 1035 at that time, and the travel distance of facial tissue is calculated in real time, when reaching fitting distance L2, start machine
Horizontal mechanical arm 1037 follows function in people's control unit 103, allows horizontal mechanical arm 1037 and facial tissue conveyer belt 1012
Synchronous operation keeps relative static conditions, and records the count value of encoder 1035 at that time, calculate in real time synchronous walking away from
From the joint movement of realization facial tissue and inner box in synchronous operation, after reaching following distance L3, cancellation follows function, under
In one circulation process.
The robot control unit 103 respectively with servo-driver 1031, pneumatic element 1033, encoder 1035 and light
Fiber sensor 1036 is electrically connected；The robot control unit 103 uses the SCARA robot or other flapping articulations of standard
Six axis joint robots also can be used in mechanical arm, and end is generally equipped with fixture such as sucker thereon, and can be stable pick up is interior
Box, and the posture position of inner box can be adjusted, B-X, B-Y and drift angle B-A mainly spatially realize the reality of conveyer belt
Shi Sudu is calculated and monitoring position, and control robot body realizes the synchronously control etc. of belt direction.
In use, two industrial digital video cameras carry out posture position to the inner box on the facial tissue and feed bin on conveyer belt respectively
Detection and identification are set, and transfers data to control system, control system adjusts the posture position of inner box according to calculated result, protects
It is consistent to demonstrate,prove inner box i.e. deflection angle spatially parallel with facial tissue, it is consistent in the offset of horizontal plane Y direction, when facial tissue moves just
To the underface of inner box, the two, which starts to synchronize, to be moved and fits to inner box on facial tissue.It is carried out after fitting next
Facial tissue calculates and synchronous fitting with inner box posture position data.In this way, can be effectively solved static crawl inner box or
Person's workpiece, the process specifications being dynamically mounted on facial tissue or pedestal, and the position ring tracking technique of conveyer belt is taken,
The technology acuracy for effectively raising the process procedure fully meets actual processing production requirement, can effectively save manually,
Improve the automatization level of existing production line.
Specifically, the crawl inner box of 1037 static state of horizontal mechanical arm in robot control unit 103, is known by vision
Dynamically inner box attachment is not assembled on facial tissue, wherein facial tissue camera under the service condition that conveyer belt does not stop with correction
1011 realize the position identification of facial tissue on facial tissue conveyer belt 1012, and inner box camera 1013 realizes the gesture recognition of static inner box,
It is calculated by data fusion, obtains the direction XY of horizontal mechanical arm 1037 and the correction data of the direction of rotation A, and by having
The conveyer belt position tracking technology of effect realizes that the conveyer belt position tracking of four axis horizontal machine people or other multi-axis mechanical arms is same
Function is walked, under the conditions of realizing that conveyer belt is non-stop-machine, inner box is dynamically accurately navigated on the designated mounting position of facial tissue,
The automation target for realizing on the process station " machine substitute human labor ", effectively reduces the cost of labor of Yin Hou equipment enterprise, gets rid of
Labor-intensive quagmire increases the accuracy and consistency of attachment process, improves complete machine intelligence, automation level, Neng Gouling
Change technique living changes manner of execution according to process requirements, meets the diversified demand of equipment and product.
Fig. 7 is that the process for the method that a kind of dynamic that the embodiment of the present invention one provides mounts vision-based detection and correction is illustrated
Figure, as shown in fig. 7, correspondingly, a kind of method of dynamic attachment vision-based detection and correction, comprising:
Speed, the location information of S101, the image location data of acquisition facial tissue and inner box and transmission belt；
S102, to the speed of the image location data of collected facial tissue and inner box and facial tissue transmission belt, location information into
Row processing, obtains correction data and result；
S103, according to processing result, control robot and operated.
A kind of method of dynamic the attachment vision-based detection and correction, further includes:
Display correction data and result.
A kind of dynamic of present invention attachment vision-based detection and the method for correction further include algorithm, main algorithm are as follows: 1, facial tissue or
The position drift angle recognizer of pedestal, when mainly calculating solution facial tissue or pedestal pass through on the conveyor belt, relative in camera
The center and drift angle of the heart, facial tissue or pedestal；2, the position drift angle recognizer of inner box or workpiece, mainly calculating solution machine
When tool arm picks up inner box or workpiece, the position and drift angle of inner box or workpiece relative to rotation center at this time；3, robot belt
Synchronized tracking algorithm, the mainly synchronous operation of solution robot control system control manipulator and conveyer belt, so that robot
Synchronism is kept in operation with belt；4, belt position triggering and location algorithm, mainly solution camera photo opportunity and
Robot starts the calculating such as the position of synchronized tracking and the position of end.The above method can be effectively solved belt and not stop down
Tracking and positioning problem, so that inner box is accurately bonded with facial tissue, high in machining efficiency, energy-saving effect is good, the effective solution work
The problem of skill link experienced operator's shortage.
Fig. 8 is that the process for the method that a kind of dynamic provided by Embodiment 2 of the present invention mounts vision-based detection and correction is illustrated
Figure, as shown in figure 8, a kind of method of dynamic attachment vision-based detection and correction, comprising: main flow and from process, wherein main flow
Sequence for main motion flow executes, and the operation of sensor testing process is used for from process, and main flow is walked in necessary process
It needs to wait the status information from process in rapid, with the algorithm operation of synchronous two processes.
Specifically, the main process of main flow is: mechanical arm moves to discharge position first, this position is crawl inner box
Center, it is necessary to examined and determined by calibration tool, then mechanical arm Z axis gets off, and opens vacuum and inhales inner box, will
Inner box is picked up or is positioned and picks up, at this time can loose inner box reshaping clamp, inner box is positioned and is unclamped, is come on mechanical arm Z axis, if
Software needs to detect interior box position, then mechanical arm moves to the place of inner box vision-based detection position, carries out inner box first time position
It sets detection to take pictures, then mechanical arm moves to the place of inner box vision-based detection position, carries out second of position detection of inner box and claps
According to after the completion of taking pictures twice, comprehensive data twice calculate inner box position data according to algorithm, when the attitude data of inner box
After calculating, mechanical arm moves to fitting holding fix, vision correcting data is waited, as the calculating facial tissue XYA from process
Position data rectifies a deviation facial tissue after data transmission to main flow, and robot control system lowers whole mechanical arm in user coordinate system
Posture, then wait follow signal commencing signal, wait from the sending of process follow commencing signal to main flow issue signal after, with
Start with movement, robot control system will control mechanical arm along the traffic direction of conveyer belt at this time, run simultaneously process
In, mechanical arm Z axis gets off, and when inner box is pressed onto facial tissue, closes vacuum suction, then comes on mechanical arm Z axis, and wait
After following movement, mechanical arm moves to discharge position again, carries out the operation of next circulation.
Specifically, it is from the main process of process: when facial tissue conveyer belt 1012 is run, checks that fibre optical sensor 1036 is believed
Number, when detecting that facial tissue passes through, remember 1035 positional value of current encoder, calculates facial tissue by distance, when calculated value is greater than
Equal to setting the visual field distance L1 when, judgement is included in camera fields of view, triggers camera photographing signals at this time, notifies facial tissue camera 1011
It takes pictures, after image transmitting to CPU master controller 1021, calculates facial tissue XYA position data, and memory coding device 1035 at this moment
Positional value, calculate the travel distance after facial tissue is taken pictures, it is continuous to detect, check whether facial tissue reaches bonding position, send out at this time
Follow commencing signal out, mechanical arm should wait and stay in bonding position in main flow, after receiving this signal, will open with
With function, at this time should 1035 position of memory coding device, calculating follow travel distance, if following distance arrives, issue with
With end signal, 1036 signal of fibre optical sensor is checked again for, the operation of next circulation is carried out.
Fig. 9 is that the process for the method that a kind of dynamic that the embodiment of the present invention three provides mounts vision-based detection and correction is illustrated
Figure, as shown in figure 9, a kind of method of dynamic attachment vision-based detection and correction, including dynamic mount vision calibration and background taken to calculate
Method flow chart, main process are: in the system software page, into camera calibration/take background pages, opening camera real-time display function
Can, scaling board will be placed in immediately below camera according to standard automatically into calibration mode, and click system interface mark by algorithm at this time
Determine start button, system will automatically snap scaling board, and the calculating of pixel distance ratio is automatically performed by algorithm, pixel ratio is demarcated,
And camera distortion is corrected, then remove scaling board, take back button by system interface, system by automatic camera at this time
Working background, the vision for the later period calculate, and in identification, algorithm subtracts belt working background, improve the signal-to-noise ratio of recognizer
And discrimination, can effectively improve and identify and position precision, by system interface take back button this operation be facial tissue with it is defeated
Under the conditions of sending band color similar, the operation that discrimination is done is improved, not each operation will carry out.
Figure 10 is that the process for the method that a kind of dynamic that the embodiment of the present invention four provides mounts vision-based detection and correction is illustrated
Figure, as shown in Figure 10, a kind of method of dynamic attachment vision-based detection and correction mounts the calculation of vision-based detection and correction including dynamic
Method, it is that camera hardware determines that wherein 1011 origin of facial tissue camera and 1013 origin of inner box camera, which refer to camera pixel origin,
All measured values are all to be calculated using camera origin as relative coordinate with this.P1-X is that the vision of facial tissue calculates the X seat of central point
Scale value, P1-Y are that the vision of facial tissue calculates the Y-coordinate value of central point, and P1-A is that the vision calculating profile of facial tissue is flat relative to camera
The deflection angle of line；P2-X1 is that the apex angle vision of inner box calculates crosspoint X-coordinate value, and P2-Y1 is the apex angle visual meter of inner box
Crosspoint Y-coordinate value is calculated, P2-X2 is that the relief angle vision of inner box calculates crosspoint X-coordinate value, and P2-Y2 is the relief angle vision of inner box
Crosspoint Y-coordinate value is calculated, JX is the actual X-direction amount of movement of mechanical arm, and JY is that the actual Y-direction of mechanical arm is mobile
Amount, and it is B-A, B-X, B-Y that mechanical arm, which waits the position amount of exercise to be adjusted in fitting, wherein B-A is mechanical arm rotary shaft
Deviation adjusting amount, B-X is mechanical arm X-direction deviation adjusting amount under user coordinate system, and B-Y is that mechanical arm is sat in user
Mark is lower Y-direction deviation adjusting amount, and mechanical arm is executing this adjustment amount, inner box can be realized and be bonded with the correct of facial tissue.Meter
B-A is calculated, the formula of B-X, B-Y follow following calculation formula:
B-A=P1-A+P2-A+ Δ A
B-X=P1-X+P2-X+ Δ X
B-Y=P1-Y+P2-Y+ Δ Y
Wherein: Δ A is the static angular deviation of original suction device and workpiece coordinate system, Δ X be original suction device with
The static X-direction deviation of workpiece coordinate system, Δ Y are the static Y-direction deviations of original suction device and workpiece coordinate system, static inclined
Difference can in such a way that measurement means or actual motion pilot scale are gathered manually identifying.
The device and method of the present invention a kind of dynamic attachment vision-based detection and correction, above content and attached drawing are with facial tissue and interior
It is illustrated for box, only a case of the present invention application example, the installation of workpiece and pedestal in industrial applications, this
Method is equally applicable, but is not limited to the installation of workpiece and pedestal.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (8)
1. a kind of device of dynamic attachment vision-based detection and correction, it is characterised in that: include:
Data acquisition unit: the electrical connection of the input terminal of its output end and processing unit, for acquiring the image of facial tissue and inner box
Position data；
Processing unit: its output end and the input terminal of robot control unit are electrically connected, for collected facial tissue and interior
The image location data information of box is handled, and correction data and result are obtained；
Robot control unit: it according to processing result, controls robot and is operated.
2. the device of a kind of dynamic attachment vision-based detection and correction according to claim 1, it is characterised in that: further include:
Display unit: the electrical connection of the output end of its input terminal and processing unit, for showing correction data and result.
3. the device of a kind of dynamic attachment vision-based detection and correction according to claim 1, it is characterised in that: the data
Acquisition unit includes:
Facial tissue camera: it is arranged above facial tissue conveyer belt, for acquiring the location drawing picture information of facial tissue or pedestal；
Inner box camera: it is arranged in inner box conveyer belt and facial tissue conveyer belt infall, for acquiring the pose presentation of inner box or workpiece
Information.
4. the device of a kind of dynamic attachment vision-based detection and correction according to claim 1, it is characterised in that: the processing
Unit includes CPU master controller, is provided with figure capture card in the CPU master controller.
5. the device of a kind of dynamic attachment vision-based detection and correction according to claim 1, it is characterised in that: the machine
People's control unit includes:
Servo-driver and the servo motor being connected with servo-driver: control and position tune for joint of robot machinery
It is whole；
Pneumatic element and the fixture being connected with pneumatic element: for robot crawl inner box or workpiece；
Encoder: it is arranged in facial tissue conveyor belt surface, is contacted by a device for disc with facial tissue conveyor belt surface, for acquiring
The speed of facial tissue transmission belt, location information.
Fibre optical sensor: being installed on the top of facial tissue conveyer belt, for detecting whether having facial tissue or pedestal to pass through.
6. the device of a kind of dynamic attachment vision-based detection and correction according to claim 5, it is characterised in that: the fixture
Including sucker.
7. a kind of method of dynamic attachment vision-based detection and correction, it is characterised in that: include:
Speed, the location information of S101, the image location data of acquisition facial tissue and inner box and transmission belt；
S102, the image location data information of collected facial tissue and inner box is handled, obtains correction data and result；
S103, according to processing result, control robot and operated.
8. the method for a kind of dynamic attachment vision-based detection and correction according to claim 7, it is characterised in that: further include:
Display correction data and result.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810359314.9A CN110385889A (en) | 2018-04-20 | 2018-04-20 | A kind of device and method of dynamic attachment vision-based detection and correction |
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| CN201810359314.9A CN110385889A (en) | 2018-04-20 | 2018-04-20 | A kind of device and method of dynamic attachment vision-based detection and correction |
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| Publication Number | Publication Date |
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| CN110385889A true CN110385889A (en) | 2019-10-29 |
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| CN112248534A (en) * | 2020-10-26 | 2021-01-22 | 武汉靡尚包装有限公司 | Full-automatic accurate positioning and cementing system and cementing method for inner box and outer packaging paper |
| CN112393683A (en) * | 2020-11-17 | 2021-02-23 | 昆山易分蓝电子科技有限公司 | Machine vision positioning method for gift box production packaging |
| CN112871733A (en) * | 2020-12-24 | 2021-06-01 | 广州市普理司科技有限公司 | Appearance detection processing equipment for single-sheet paper products and control method thereof |
| CN113290935A (en) * | 2021-06-18 | 2021-08-24 | 深圳市裕同包装科技股份有限公司 | Box sleeve forming device and method thereof |
| CN113406924A (en) * | 2021-08-23 | 2021-09-17 | 山东奥卓电气科技发展有限公司 | Control system of tool line with visual deviation correction and implementation method thereof |
| CN113664834A (en) * | 2021-09-01 | 2021-11-19 | 广东奇创智能科技有限公司 | Assembly line material position identification and robot movement alignment method and system |
| CN113771415A (en) * | 2021-09-09 | 2021-12-10 | 中科天工（武汉）智能技术有限公司 | Facial tissue transfer chain and enclose grey board and facial tissue assembly line of frame |
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