CN114359393A - Cross-platform visual guide dispensing guiding method - Google Patents
Cross-platform visual guide dispensing guiding method Download PDFInfo
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- CN114359393A CN114359393A CN202210262967.1A CN202210262967A CN114359393A CN 114359393 A CN114359393 A CN 114359393A CN 202210262967 A CN202210262967 A CN 202210262967A CN 114359393 A CN114359393 A CN 114359393A
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Abstract
The invention discloses a cross-platform visual guide dispensing guiding method, which comprises the following steps: step 1, collecting an image; step 2, drawing a characteristic area, and creating a matching positioning template; step 3, teaching a glue path, and generating a visual model of a glue dispensing track; step 4, searching a matching template; 5, transferring the model to an image coordinate system; step 6, transferring the image coordinate system to a mechanical axis coordinate system; 7, calculating absolute mechanical axis coordinates of coordinate points in the dispensing track visual model; and 8, outputting the model coordinate points, and executing coordinate dispensing by the lower computer. The cross-platform visual guide dispensing guiding method has the advantages that the dispensing track visual model and the guiding relocation thereof can be shared among different devices.
Description
Technical Field
The invention relates to the technical field of visual guide dispensing, in particular to a cross-platform visual guide dispensing guide method.
Background
In order to realize that the industrial camera guides the mechanical shaft to finish accurate dispensing operation, the industrial camera is widely installed on the mechanical shaft to realize 2D visual guide dispensing, and the method comprises the following specific steps: step 1, calibrating the position relation of an industrial camera and a dispensing needle head under a mechanical axis coordinate system; step 2, teaching a dispensing track visual model of the product; and 3, guiding and repositioning the dispensing track visual model of the product.
Aiming at the step 2, the traditional visual model of the dispensing track is composed of a glue path axis coordinate point set and an image coordinate point at the center of a template area. The template area is the interesting area matched with the Halcon template, drawing and creating are carried out in the reference image, and area positioning similar to the interesting area characteristic is searched in other images.
Aiming at the step 3, the guiding repositioning mode of the visual model of the dispensing track of the product is as follows: and (3) performing translation transformation on the shaft position of the real-time product during drawing compared with the shaft position during glue path teaching, matching and positioning the position and the angle of the real-time product by using a template compared with the translation and rotation transformation of the position of the product during glue path teaching, solving an affine matrix of the transformation, and performing affine matrix transformation on a dispensing track visual model to complete the guided repositioning of the dispensing track visual model of the current product. The template matching is a method for positioning an object in an image provided in a Halcon image processing algorithm library, and the main idea is to use a region of interest in a reference image as a template, create the region of interest and search the model in other images.
In actual generation, a product often uses a plurality of devices to operate in parallel, imaging magnifications of cameras among different devices are different, a traditional dispensing track visual model and a guiding method are used on different devices, due to the fact that the imaging magnifications among the devices are not consistent, the imaging position of the dispensing track visual model in an image can be zoomed and transformed by taking the center of the image as an original point, and then a model imaging coordinate is translated towards the center, model translation generated by zooming is not considered in the traditional mode, and finally the guiding repositioning position of a glue path is wrong, so that the same model is used among different devices to guide dispensing to be not communicated.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, the invention provides a cross-platform visual guide dispensing guiding method, which has the advantage that a dispensing track visual model and a guide repositioning thereof can be shared among different devices.
The cross-platform visual guide dispensing guiding method provided by the embodiment of the invention comprises the following steps: step 1, collecting images: placing the product at the center of the image view, and adjusting parameters of a light source, a camera and a lens until the product image is clear and the contrast is clear; step 2, drawing a characteristic area, and creating a matching positioning template: drawing a characteristic region on a reference image, creating a matching template, and calculating the mechanical axis coordinate of a template central point according to the mechanical axis coordinate of a camera, a camera calibration matrix and the image coordinate of the template central point during reference image acquisition; step 3, teaching a glue path, and generating a visual model of a glue dispensing track: moving a camera shaft, aligning the central point of the image to the top point of the contour to be taught on the glue path, recording the coordinate of the mechanical shaft at the moment, and generating a visual model of the glue dispensing track by combining the coordinate of the mechanical shaft of the central point of the template in the step 2; step 4, searching a matching template: searching a matching template, positioning the image coordinate of the center point of the template, and recording the mechanical axis coordinate when the image is taken currently; and 5, transferring the model to an image coordinate system: combining the dispensing track visual model in the step 3 and the template central point image coordinates in the step 4, calculating a pixel scale according to a current equipment camera calibration matrix, and converting the dispensing track visual model into an image coordinate system; and 6, transferring the image coordinate system to a mechanical axis coordinate system: according to the current equipment camera calibration matrix, the dispensing track visual model is converted from an image coordinate system to a mechanical axis coordinate system, and a target coordinate point of the mechanical axis to be moved is solved; 7, calculating absolute mechanical axis coordinates of coordinate points in the dispensing track visual model; and 8, outputting the model coordinate points, and executing coordinate dispensing by the lower computer: and outputting the target coordinate point calculated in the step 6 to lower computer software to perform dispensing.
The invention has the advantages that the teaching workload of the dispensing track visual model of the similar product is reduced, and the similar product can be shared only by establishing one dispensing track visual model; the consistency of the dispensing process among the devices of the same type of products is improved.
According to one embodiment of the invention, the camera is mounted on a camera axis, the camera moving synchronously with the camera axis.
According to an embodiment of the present invention, in the step 2, an image is obtained according to the step 1, a template region of interest is drawn in the image and used as a template region to create a template, and the current image is the reference image.
According to an embodiment of the present invention, in the step 3, the mechanical axis coordinate system is
And the coordinate system 0 point is established at the original position of the mechanical axis x and y reset points, the directions of the x and y axes are based on the installation direction of the mechanical axis, the directions of the x axis and the y axis are orthogonal, and the dimension of the x axis and the y axis is length.
According to an embodiment of the present invention, in the 5 th step and the 6 th step, the image coordinate system is
And the coordinate system 0 point is established at the upper left corner of the image, the x-axis direction and the y-axis direction are based on the rows and the columns of the image, the x-axis direction and the y-axis direction are orthogonal, and the x-axis and the y-axis are pixels.
According to an embodiment of the present invention, in the step 3, the coordinates of the vertex of the outline of the visual model of the dispensing trajectory are all based on a model coordinate system.
According to one embodiment of the present invention, the model coordinate system is
And establishing a coordinate system 0 point on the central point of the matching template in the step 2, wherein the x-axis direction and the y-axis direction are orthogonal based on the rows and the columns of the image, and the x-axis scale and the y-axis scale are lengths.
According to an embodiment of the present invention, in the 2 nd step, the camera calibration matrix is represented as: image coordinate system during plane motion of mechanical axis
Transferring the moving distance to a mechanical axis coordinate system
And moving the relation matrix between the intervals downwards.
According to an embodiment of the present invention, in the step 3, the calculation steps of the coordinates of each vertex model on the outline of the visual model of the dispensing trajectory are as follows:
first, the
Calculating the displacement of each vertex of the contour of the rubber road relative to the coordinate of the mechanical axis of the camera when the reference image is collected;
first, the
Step (A) to
Transferring the displacement obtained by calculation in the step to an image coordinate system to obtain a converted point;
first, the
Step (A) to
And transferring the converted points obtained in the step to a model coordinate system, and finally obtaining each vertex model coordinate on the outline of the visual model of the dispensing track.
According to an embodiment of the present invention, in the 4 th step, the 5 th step, the 6 th step, the 7 th step and the 8 th step, the guiding relocation of the established visual model of the dispensing trajectory can be used among different devices of the same type.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of a machine axis coordinate system;
FIG. 3 is a schematic diagram of an image coordinate system and a model coordinate system.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The cross-platform visual guidance dispensing guiding method according to the embodiment of the invention is described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the cross-platform visual guidance dispensing guiding method of the present invention mainly includes creating a dispensing trajectory visual model capable of sharing parameters and a guidance relocation of the dispensing trajectory visual model capable of sharing parameters, so as to solve the problem that the dispensing trajectory visual model and the guidance relocation thereof cannot be shared among different devices, and specifically includes the following steps:
step 1, collecting images: and (4) placing the product to about the center of the image view, and adjusting parameters of a light source, a camera and a lens until the product image is clear and the contrast is clear. Wherein the camera is mounted on a camera axis, the camera moving synchronously with the camera axis.
Step 2, drawing a characteristic area, and creating a matching positioning template: drawing characteristic regions on the reference image, creating a matching template, and acquiring the coordinates of the mechanical axis of the camera according to the reference image
Camera calibration matrix
Template center point image coordinates
And calculating the mechanical axis coordinate of the center point of the template
Center point of template mechanical axis coordinate
The calculation formula of (a) is as follows:
in formula (1), the meaning of each symbol is specifically as follows:
the image coordinates represent point coordinates in an image coordinate system. The mechanical axis coordinates represent point coordinates in the mechanical axis coordinate system.
In the step 2, an image is obtained according to the step 1, a template region of interest is drawn in the image and is used as a template region to create a template, and the current image is a reference image.
In step 2, the camera calibration matrix is represented as: image coordinate system during plane motion of mechanical axis
Transferring the moving distance to a mechanical axis coordinate system
And moving the relation matrix between the intervals downwards. The transformation relation is as follows: firstly, rotating transformation and then scaling transformation:
in formula (2), the meaning of each symbol is specifically as follows:
Step 3, demonstrating the glue path, generating glue dispensing railsA handwriting vision model: moving a camera shaft, aligning the central point of an image to the top point of a contour to be taught on a glue line, recording the coordinates of a mechanical shaft at the moment, and inserting all recorded mechanical shaft coordinates into the array after teaching is finished
In (1),
wherein the length of the array is i,
and the coordinates of each vertex mechanical axis on the outline of the visual model of the dispensing track are represented. Combining the template center point mechanical axis coordinates of step 2
And generating a visual model of the dispensing track.
In step 3, see FIG. 2, the machine axis coordinate system is
The coordinate system 0 point is established at a mechanical axis x and y reset original point, the x and y axis directions are based on the installation direction of a mechanical axis, the x axis direction is orthogonal to the y axis direction, the x and y axis dimensions are lengths, and the length unit is mm; the symbol a is used to distinguish different coordinate systems and a is the first letter of axis (coordinate axes).
Referring to fig. 3, in step 3, the coordinates of the vertex of the outline of the visual model of the dispensing trajectory are all based on the model coordinate system. System of coordinates of model
Establishing a coordinate system 0 point on the central point of the matching template in the step 2, wherein the x-axis direction and the y-axis direction are orthogonal based on the rows and the columns of the image, the x-axis direction and the y-axis direction are length, and the unit of the length is mm; the notation t is used to distinguish different coordinate systems and t is the first letter of the template.
It should be noted that the trace vision is glued to the pointModel array
The components of the composition are as follows,
has a length of
，
And representing the coordinates of each vertex model on the outline of the visual model of the dispensing track.
In step 3, dispensing each vertex model coordinate on the visual model contour of the track
The calculation steps are as follows:
first, the
Step, calculating each vertex of the contour of the rubber road
Mechanical axis coordinates of camera during relative reference image acquisition
A displacement of
The relative displacement of each vertex is marked as
Then, the displacement calculation formula is as follows:
（3）
first, the
Step (A) to
Displacement calculated in step(s)
Transferring to image coordinate system to obtain converted points, and recording the converted points as
Then point after conversion
The calculation formula of (a) is as follows:
in formula (4), the meaning of each symbol is specifically as follows:
First, the
Step (A) to
Converted points obtained in step(s)
Go to the model coordinate system
Finally obtaining the coordinates of each vertex model on the outline of the visual model of the dispensing track
Then, then
The calculation formula of (a) is as follows:
in formula (5), the meaning of each symbol is specifically as follows:
Step 4, searching a matching template: searching for matching template to locate template center point image coordinates
And recording the mechanical axis coordinates at that time
。
And 5, transferring the model to an image coordinate system: combining the dispensing track visual model in the step 3 and the template central point image coordinates in the step 4, and calibrating the matrix according to the current equipment camera
And calculating pixel scale, and converting the dispensing track visual model into an image coordinate system.
In step 5, the current device camera calibration matrix is recorded
Wherein, in the step (A),
a matrix representing a particular device camera, referred to herein as the current device camera.
In step 4, the template center point image coordinates are marked
Calculating a rotation matrix from the rotation angle of the template, the rotation matrix being written as
Visual model of created dispensing trajectory
Recording the image dispensing track visual model under the current image coordinate system of the current equipment
In which the point coordinates
The calculation formula of (a) is as follows:
in the formula (6), the meaning of each symbol is specifically as follows:
It should be noted that, in the following description,
and the image dispensing track visual model represents a current image coordinate system.
And point coordinates in the image dispensing track visual model under the current image coordinate system are represented.
And 6, transferring the image coordinate system to a mechanical axis coordinate system: calibrating a matrix according to a current device camera
And (4) transferring the dispensing track visual model from the image coordinate system to the mechanical axis coordinate system, and solving a target coordinate point to be moved by the mechanical axis. Specifically, the 5 th step
Axial point gluing track visual model under current equipment mechanical axis coordinate system
In which the point coordinates
The calculation formula of (a) is as follows:
in formula (7), the meaning of each symbol is specifically as follows:
It should be noted that, in the following description,
and representing a visual model of the axis point gluing track under the current mechanical axis coordinate system.
And expressing the point coordinates in the axis point gluing track visual model under the current mechanical axis coordinate system.
And 7, calculating absolute mechanical axis coordinates of coordinate points in the dispensing track visual model, wherein the method comprises the following steps:
step 7.1, calculating the central point of the image
To the 4 th step, the coordinates of the template center point image
Mechanical inter-axle distance coordinate of
The mechanical inter-axle distance coordinate
The calculation formula of (a) is as follows:
7.2, calculating absolute mechanical axis coordinates of each coordinate point in the final dispensing track visual model and stuffing the absolute mechanical axis coordinates into an array
In, and
，
visual model representing dispensing trajectory
The absolute mechanical coordinate point is set to be the absolute mechanical coordinate point,
the calculation formula of (a) is as follows:
in step 5 and 6, see fig. 3, the image coordinate system is
The coordinate system 0 point is established at the upper left corner of the image, the x-axis direction and the y-axis direction are based on the rows and the columns of the image, the x-axis direction and the y-axis direction are orthogonal, the x-axis and the y-axis dimensions are pixels, and the unit of the pixel is pixel; the symbol i is used to distinguish different coordinate systems, and i is the first letter of an image.
And 8, outputting the model coordinate points, and executing coordinate dispensing by the lower computer: and outputting the target coordinate point calculated in the step 6 to lower computer software to perform dispensing.
It should be noted that, in the 4 th step, the 5 th step, the 6 th step, the 7 th step and the 8 th step, the guided repositioning of the established visual model of the dispensing trajectory can be used among different devices of the same type.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (10)
1. A cross-platform visual guide dispensing guide method is characterized by comprising the following steps:
step 1, collecting images: placing the product at the center of the image view, and adjusting parameters of a light source, a camera and a lens until the product image is clear and the contrast is clear;
step 2, drawing a characteristic area, and creating a matching positioning template: drawing a characteristic region on a reference image, creating a matching template, and calculating the mechanical axis coordinate of a template central point according to the mechanical axis coordinate of a camera, a camera calibration matrix and the image coordinate of the template central point during reference image acquisition;
step 3, teaching a glue path, and generating a visual model of a glue dispensing track: moving a camera shaft, aligning the central point of the image to the top point of the contour to be taught on the glue path, recording the coordinate of the mechanical shaft at the moment, and generating a visual model of the glue dispensing track by combining the coordinate of the mechanical shaft of the central point of the template in the step 2;
step 4, searching a matching template: searching a matching template, positioning the image coordinate of the center point of the template, and recording the mechanical axis coordinate when the image is taken currently;
and 5, transferring the model to an image coordinate system: combining the dispensing track visual model in the step 3 and the template central point image coordinates in the step 4, calculating a pixel scale according to a current equipment camera calibration matrix, and converting the dispensing track visual model into an image coordinate system;
and 6, transferring the image coordinate system to a mechanical axis coordinate system: according to the current equipment camera calibration matrix, the dispensing track visual model is converted from an image coordinate system to a mechanical axis coordinate system, and a target coordinate point of the mechanical axis to be moved is solved;
7, calculating absolute mechanical axis coordinates of coordinate points in the dispensing track visual model;
and 8, outputting the model coordinate points, and executing coordinate dispensing by the lower computer: and outputting the target coordinate point calculated in the step 6 to lower computer software to perform dispensing.
2. The cross-platform visual guidance dispensing guiding method according to claim 1, characterized in that: the camera is mounted on a camera shaft and moves synchronously with the camera shaft.
3. The cross-platform visual guidance dispensing guiding method according to claim 1, characterized in that: in the step 2, an image is obtained according to the step 1, a template region of interest is drawn in the image and used as a template region to create a template, and the current image is the reference image.
4. The cross-platform visual guidance dispensing guiding method according to claim 1, characterized in that: in the step 3, the mechanical axis coordinate system is
And the coordinate system 0 point is established at the original position of the mechanical axis x and y reset points, the directions of the x and y axes are based on the installation direction of the mechanical axis, the directions of the x axis and the y axis are orthogonal, and the dimension of the x axis and the y axis is length.
5. The cross-platform visual guidance dispensing guide method according to claim 4, characterized in that: in the 5 th step and the 6 th step, the image coordinate system is
And the coordinate system 0 point is established at the upper left corner of the image, the x-axis direction and the y-axis direction are based on the rows and the columns of the image, the x-axis direction and the y-axis direction are orthogonal, and the x-axis and the y-axis are pixels.
6. The cross-platform visual guidance dispensing guiding method according to claim 1, characterized in that: in the step 3, the contour vertex coordinates of the dispensing trajectory visual model are all based on a model coordinate system.
7. The cross-platform visual guidance dispensing guide method according to claim 6, characterized in that: the coordinate system of the model is
And establishing a coordinate system 0 point on the central point of the matching template in the step 2, wherein the x-axis direction and the y-axis direction are orthogonal based on the rows and the columns of the image, and the x-axis scale and the y-axis scale are lengths.
8. The cross-platform visual guidance dispensing guide method according to claim 5, characterized in that: in the 2 nd step, the camera calibration matrix is expressed as: image coordinate system during plane motion of mechanical axis
Transferring the moving distance to a mechanical axis coordinate system
And moving the relation matrix between the intervals downwards.
9. The cross-platform visual guidance dispensing guide method according to claim 6, characterized in that: in the step 3, the calculation of each vertex model coordinate on the visual model contour of the dispensing trajectory comprises the following steps:
first, the
Calculating the displacement of each vertex of the contour of the rubber road relative to the coordinate of the mechanical axis of the camera when the reference image is collected;
first, the
Step (A) to
Transferring the displacement obtained by calculation in the step to an image coordinate system to obtain a converted point;
first, the
Step (A) to
And transferring the converted points obtained in the step to a model coordinate system, and finally obtaining each vertex model coordinate on the outline of the visual model of the dispensing track.
10. The cross-platform visual guidance dispensing guiding method according to claim 1, characterized in that: in the 4 th step, the 5 th step, the 6 th step, the 7 th step and the 8 th step, the guiding relocation of the established visual model of the dispensing trajectory can be used among different devices of the same type.
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| CN115830147A (en) * | 2023-02-20 | 2023-03-21 | 常州铭赛机器人科技股份有限公司 | Transfer printing and dispensing rotation center calibration method based on monocular vision |
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| CN112735969A (en) * | 2021-04-02 | 2021-04-30 | 惠州高视科技有限公司 | LED semiconductor packaging glue dispensing defect detection method, electronic equipment and storage medium |
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| CN113284191A (en) * | 2021-06-10 | 2021-08-20 | 广东奥普特科技股份有限公司 | Dispensing method, system, equipment and storage medium based on visual guidance |
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| CN113070876A (en) * | 2021-03-19 | 2021-07-06 | 深圳群宾精密工业有限公司 | Manipulator dispensing path guiding and deviation rectifying method based on 3D vision |
| CN112735969A (en) * | 2021-04-02 | 2021-04-30 | 惠州高视科技有限公司 | LED semiconductor packaging glue dispensing defect detection method, electronic equipment and storage medium |
| CN113284191A (en) * | 2021-06-10 | 2021-08-20 | 广东奥普特科技股份有限公司 | Dispensing method, system, equipment and storage medium based on visual guidance |
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| CN115830147A (en) * | 2023-02-20 | 2023-03-21 | 常州铭赛机器人科技股份有限公司 | Transfer printing and dispensing rotation center calibration method based on monocular vision |
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