CN115019025A - Cutting calibration method, device and computer readable storage medium - Google Patents
Cutting calibration method, device and computer readable storage medium Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
The embodiment of the invention provides a cutting calibration method, a device and a computer readable storage medium, wherein the method comprises the following steps: acquiring a blade line of a blade collected by a camera; determining a deflection angle, a horizontal offset and/or a vertical offset between the blade edge line and a target scale line of the center position of the camera lens; generating a target movement parameter associated with the camera lens according to the deflection angle, the horizontal offset and/or the vertical offset; and controlling a camera adjusting shaft according to the target moving parameters so as to control the center position of the camera lens to coincide with the cutting position of the cutting edge through the camera adjusting shaft. The center position of the camera lens and the cutting position of the cutting edge are calibrated before the wafer is cut, so that the cutting accuracy is improved, and the problem of low cutting accuracy is solved.
Description
Technical Field
The present invention relates to the field of wafer cutting technologies, and in particular, to a method and an apparatus for calibrating cutting, and a computer-readable storage medium.
Background
In a Wafer (Wafer) splitting process, a camera is required to be positioned to a cutting street of a split, then the positioned cutting street is moved to a position right below a chopper for splitting, and the center of the camera view is a splitting position corresponding to the cutting edge of the chopper.
However, in the actual cutting process, since the position of the riving knife may be relatively shifted from the position of the camera, that is, the actual position of the riving knife is not coincident with the position of the camera, the accuracy of the split cutting is reduced by performing the splitting according to the camera positioning, and the quality of the split is affected.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a cutting calibration method, aiming at solving the problem of how to improve the cutting accuracy.
In order to achieve the above object, the present invention provides a cutting calibration method, including:
acquiring a blade line of a blade collected by a camera;
determining a deflection angle, a horizontal offset and/or a vertical offset between the blade edge line and a target scale line of the center position of the camera lens;
generating a target movement parameter associated with the camera lens according to the deflection angle, the horizontal offset and/or the vertical offset;
and controlling a camera adjusting shaft according to the target moving parameters so as to control the center position of the camera lens to coincide with the cutting position of the cutting edge through the camera adjusting shaft.
Optionally, the step of determining an offset angle, a horizontal offset and a vertical offset between the blade edge line and a target graduation line at a central position of a camera lens comprises:
acquiring a preset area where the target scale mark is located;
determining a relative offset position of the edge line in the preset area when the edge line is in the preset area;
and determining the offset angle, the transverse offset and the longitudinal offset between the edge line and a target graduation line according to the relative offset position.
Optionally, the step of determining the relative offset position of the edge line in the preset area when the edge line is in the preset area comprises:
acquiring a gray value corresponding to each pixel point in the preset area;
taking the area, corresponding to the pixel point in the preset area, of the gray values meeting the preset gray matching condition as the edge line of the blade in the preset area;
and determining the relative distance between the edge line and the central area of the preset area to obtain the relative offset position of the edge line in the preset area.
Optionally, the step of generating the target movement parameter associated with the camera lens according to the deflection angle, the horizontal offset and/or the vertical offset includes:
determining a horizontal movement amount corresponding to the camera lens according to the horizontal offset, wherein the horizontal movement amount comprises a horizontal transverse movement amount and/or a horizontal longitudinal movement amount;
and determining a first target movement parameter related to the camera lens according to the horizontal transverse movement amount and/or the horizontal longitudinal movement amount.
Optionally, the step of determining the first object movement parameter associated with the camera lens according to the horizontal transverse movement amount and/or the horizontal longitudinal movement amount comprises:
determining a horizontal transverse movement parameter of the first target movement parameter according to the horizontal transverse movement amount, and/or determining a horizontal longitudinal movement parameter of the first target movement parameter according to the horizontal longitudinal movement amount, and determining the first target movement parameter according to the horizontal transverse movement parameter and/or the horizontal longitudinal movement parameter; or alternatively
And determining a linear movement parameter of the first target movement parameter according to the horizontal transverse movement amount and the horizontal longitudinal movement amount, and taking the linear movement parameter as the first target movement parameter.
Optionally, the step of generating the target movement parameter associated with the camera lens according to the deflection angle, the horizontal offset and/or the vertical offset includes:
determining a rotation angle corresponding to the camera lens according to the deflection angle, determining a horizontal movement amount corresponding to the camera lens according to the horizontal offset, and/or determining a vertical movement amount corresponding to the camera lens according to the vertical offset;
and determining a second target movement parameter related to the camera lens according to the rotation angle, the horizontal movement amount and/or the vertical movement amount.
In addition, the present invention also provides a cutting calibration apparatus, comprising: the cleaver, the light source, the camera adjusting shaft and the control circuit board, wherein the control circuit board comprises a memory, a processor and a cutting calibration program which is stored on the memory and can run on the processor, and the cutting calibration program realizes the steps of the cutting calibration method when being executed by the processor.
Optionally, the cutting calibration apparatus comprises: the top end of the cutting calibration equipment is provided with a riving knife, and the riving knife is used for executing cutting action after calibration; the light source and the camera are arranged on the lower side of the riving knife, and the camera is used for collecting a blade line of the riving knife irradiated by the light source; the camera comprises a camera lens on the upper side and a camera support on the lower side, the camera lens is used for cutting calibration, and the camera support is connected with the camera adjusting shaft on the bottom; the camera adjusting shaft comprises a vertical adjusting shaft, a horizontal adjusting shaft and a rotating shaft, and the camera adjusting shaft is used for controlling the camera lens to execute cutting calibration actions.
Furthermore, the present invention also provides a computer-readable storage medium, which stores a cutting calibration program, and when the cutting calibration program is executed by a processor, the cutting calibration program implements the steps of the cutting calibration method according to the above embodiment.
The embodiment of the invention provides a cutting calibration method, a device and a computer readable storage medium, wherein the method comprises the following steps: acquiring a blade line of a blade collected by a camera; determining a deflection angle, a horizontal offset and/or a vertical offset between the blade edge line and a target scale line of the center position of the camera lens; generating a target movement parameter associated with the camera lens according to the deflection angle, the horizontal offset and/or the vertical offset; and controlling a camera adjusting shaft according to the target moving parameters so as to control the center position of the camera lens to coincide with the cutting position of the cutting edge through the camera adjusting shaft. Through before cutting the wafer, the central point of camera lens puts and the calibration of cutting edge cutting position, has improved the accuracy of cutting, has solved the lower problem of cutting accuracy.
Drawings
Fig. 1 is a schematic diagram of a hardware architecture of a cutting calibration apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a cutting calibration method according to the present invention;
FIG. 3 is a flowchart illustrating a detailed process of step S20 in the second embodiment of the cutting calibration method according to the present invention;
FIG. 4 is a flowchart illustrating a detailed process of step S30 in the third embodiment of the cutting calibration method according to the present invention;
fig. 5 is another detailed flowchart of step S30 in the fourth embodiment of the cutting calibration method according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It is to be understood that the appended drawings illustrate exemplary embodiments of the invention, which may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As an implementation, the cutting calibration apparatus may be as shown in fig. 1.
The embodiment of the invention relates to cutting calibration equipment, which comprises: a processor 101, e.g. a CPU, a memory 102, a communication bus 103. Wherein a communication bus 103 is used for enabling the connection communication between these components.
The memory 102 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). As shown in fig. 1, a cutting calibration program may be included in a memory 102, which is a computer-readable storage medium; and the processor 101 may be configured to invoke the cut calibration program stored in the memory 102 and perform the following operations:
acquiring a blade line of a blade collected by a camera;
determining a deflection angle, a horizontal offset and/or a vertical offset between the blade edge line and a target scale line of the center position of the camera lens;
generating a target movement parameter associated with the camera lens according to the deflection angle, the horizontal offset and/or the vertical offset;
and controlling a camera adjusting shaft according to the target moving parameters so as to control the center position of the camera lens to coincide with the cutting position of the cutting edge through the camera adjusting shaft.
In one embodiment, the processor 101 may be configured to invoke a cut calibration program stored in the memory 102 and perform the following operations:
acquiring a preset area where the target scale mark is located;
acquiring a gray value corresponding to each pixel point in the preset area;
taking the area, corresponding to the pixel point in the preset area, of the gray values meeting the preset gray matching condition as the edge line of the blade in the preset area;
determining the relative distance between the edge line and the central area of the preset area to obtain the relative offset position of the edge line in the preset area;
and determining the offset angle, the transverse offset and the longitudinal offset between the edge line and a target graduation line according to the relative offset position.
In one embodiment, the processor 101 may be configured to invoke a cut calibration program stored in the memory 102 and perform the following operations:
determining a horizontal movement amount corresponding to the camera lens according to the horizontal offset, wherein the horizontal movement amount comprises a horizontal transverse movement amount and/or a horizontal longitudinal movement amount;
determining a horizontal transverse movement parameter of the first target movement parameter according to the horizontal transverse movement amount, and/or determining a horizontal longitudinal movement parameter of the first target movement parameter according to the horizontal longitudinal movement amount, and determining the first target movement parameter according to the horizontal transverse movement parameter and/or the horizontal longitudinal movement parameter; or determining a linear movement parameter of the first target movement parameter according to the horizontal transverse movement amount and the horizontal longitudinal movement amount, and taking the linear movement parameter as the first target movement parameter.
In one embodiment, the processor 101 may be configured to invoke a cut calibration program stored in the memory 102 and perform the following operations:
determining a rotation angle corresponding to the camera lens according to the deflection angle, determining a horizontal movement amount corresponding to the camera lens according to the horizontal offset, and/or determining a vertical movement amount corresponding to the camera lens according to the vertical offset;
and determining a second target movement parameter related to the camera lens according to the rotation angle, the horizontal movement amount and/or the vertical movement amount.
Based on the hardware architecture of the cutting calibration device based on the wafer cutting technology, the embodiment of the cutting calibration method is provided.
Referring to fig. 2, in a first embodiment, the cutting calibration method includes the steps of:
step S10, acquiring a blade edge line collected by a camera;
in the embodiment, before the cutting edge cuts, the cutting position of the cutting edge needs to be calibrated, in the calibration mode of the embodiment, a high-definition camera fixed on a cutting calibration device is used for acquiring the edge line position of the cutting edge, a lens of the camera is vertically opposite to the cutting edge, the edge line position of the cutting edge is shot under the irradiation of a light source to obtain a clear edge line image of the cutting edge, the edge line image of the cutting edge is acquired, and the edge line of the cutting edge can be extracted from the edge line image by a gray scale matching method.
Step S20, determining the deflection angle, horizontal offset and/or vertical offset between the blade edge line and the target scale mark of the center position of the camera lens;
in this embodiment, after obtaining the edge line of the blade, the position of the edge line of the blade is taken as a reference position, and the deviation amount between the camera lens and the reference position is determined, where the deviation amount includes at least one of the deflection angle, the horizontal deviation amount and the vertical deviation amount, and the target scale mark may be a horizontal scale mark indicating the center position of the camera, and it should be emphasized that the target scale mark is not actually engraved at the center of the camera lens, but is taken as a calibration line for identifying the cutting position by a computer program.
Further, for a non-deviated blade position, the blade edge line image should be at the center position of the camera lens and keep a certain coincidence with the target scale line, so that if the blade edge line position is not coincident with the target scale line, it means that there is a deviation in the cutting position. The deflection angle is the angle value between the edge line of the cutting edge and the horizontal target scale line, namely the camera lens has certain deflection relative to the cutting knife; the horizontal offset is the offset of the edge line relative to the target scale line in the horizontal direction (namely, the x axis and the y axis), which means that the lens has a deviation relative to the cutting knife in the horizontal direction; the vertical offset is the height deviation of the lens in the vertical direction (i.e., z-axis).
Step S30, generating a target movement parameter related to the camera lens according to the deflection angle, the horizontal offset and/or the vertical offset;
and step S40, controlling a camera adjusting shaft according to the target moving parameters, so as to control the center position of the camera lens to coincide with the cutting position of the blade through the camera adjusting shaft.
In this embodiment, after determining the deviation that exists between the relative cutting knife of camera lens, generate corresponding shift parameter according to the deviation value, and then camera adjusting shaft controls camera lens according to this shift parameter and removes, makes the central point of camera lens puts and cutting edge cutting position coincidence, thereby realizes the cutting calibration.
In the technical scheme provided by the embodiment, the cutting edge line of the cutting knife is collected, the deviation between the cutting edge line and the center position of the camera lens is determined, then the corresponding deviation compensation movement parameter is determined according to the deviation, and finally the camera adjusting shaft is controlled according to the compensation movement parameter, so that the center position of the camera lens is coincided with the cutting position of the cutting edge, and the cutting calibration is realized. The accuracy of cutting is improved.
Referring to fig. 3, in the second embodiment, based on the first embodiment, the step S20 includes:
step S21, acquiring a preset area where the target scale mark is located;
step S221, obtaining a gray value corresponding to each pixel point in the preset area;
step S222, regarding a region which meets a preset gray matching condition and is located in the preset region and corresponding to the pixel point in the gray value as the blade edge line located in the preset region;
step S223, determining a relative distance between the edge line and the central region of the preset region, to obtain the relative offset position of the edge line in the preset region.
Step S23, determining the offset angle, the transverse offset and the longitudinal offset between the edge line and the target graduation line according to the relative offset position.
Optionally, since the captured image of the edge line of the blade may be shifted too far from the camera lens, which is often caused by an error in the capturing process, in this embodiment, a preset region is set based on the target scale line, and when the edge line is within the preset region, further action is performed.
Further, based on a preset region, obtaining a gray value corresponding to each pixel point in the region, using a region formed by pixel points corresponding to the pixel points in the preset region and meeting a preset gray matching condition as the edge line of the blade in a gray matching manner, then determining the relative offset position of the edge line of the blade in the preset region based on a central position coordinate of the preset region, namely the position of a target scale line, wherein the relative offset position comprises lens angle offset, horizontal position offset and vertical position offset, and determining the offset angle, the horizontal offset and the longitudinal offset between the edge line of the blade and the target scale line according to the relative offset position.
For example, the preset area may be a three-dimensional space, coordinates corresponding to a central position of the preset area are set to be (0, 0, 0), gray matching is performed in the preset area to determine a blade edge line, and then the position of the blade edge line is further obtained, and based on the central coordinates, assuming that the coordinates of the blade edge line are (-1, 2, 1), an offset of the camera is determined as: positive movement 1 toward the X axis, negative movement 2 toward the Y axis, and negative movement 1 toward the Z axis. After the movement, the offset angle of the camera lens is determined according to the included angle degree between the two lines, and when the included angle degree is 0 degrees or 180 degrees, the two lines are judged to be overlapped.
In the technical scheme provided by this embodiment, a preset region is set, gray scale matching is performed based on the preset region to determine the edge line of the blade, and then the target scale mark is moved in the preset region according to the edge line of the blade, so that the two lines are overlapped finally, and the cutting accuracy is improved.
Referring to fig. 4, in the third embodiment, based on the first embodiment, the step S30 includes:
step S31, determining a horizontal movement amount corresponding to the camera lens according to the horizontal offset, wherein the horizontal movement amount comprises a horizontal transverse movement amount and/or a horizontal longitudinal movement amount;
step S321, determining a horizontal transverse movement parameter of the first target movement parameter according to the horizontal transverse movement amount, and/or determining a horizontal longitudinal movement parameter of the first target movement parameter according to the horizontal longitudinal movement amount, and determining the first target movement parameter according to the horizontal transverse movement parameter and/or the horizontal longitudinal movement parameter; or determining a linear movement parameter of the first target movement parameter according to the horizontal transverse movement amount and the horizontal longitudinal movement amount, and taking the linear movement parameter as the first target movement parameter.
Optionally, the present embodiment provides a method for determining a target movement parameter in a horizontal direction. In the embodiment, when the cutting knife has a deviation in the horizontal direction relative to the wafer cutting position, the movement parameter of the camera is determined according to the deviation determined in the horizontal direction. In an actual cutting process, cutting position deviation in a horizontal direction is a common deviation, and for the horizontal position deviation, a horizontal direction and a longitudinal direction (namely an x axis and a y axis) exist, so that a two-dimensional coordinate system is established by taking a middle point of a target scale mark as an origin, at least one of an initial corresponding horizontal transverse movement amount and a horizontal longitudinal movement amount is determined according to an obtained horizontal offset amount between a camera and a cutting knife, and a target movement parameter of a camera lens is determined according to the horizontal transverse movement amount and/or the horizontal longitudinal movement amount.
Further, for the moving mode of the camera, after a target position is determined, the camera adjusting shaft can move according to the horizontal and vertical coordinates of the target position, that is, the camera adjusting shaft moves corresponding distance transversely and then moves corresponding distance longitudinally (or moves corresponding distance longitudinally and then moves corresponding distance transversely); the camera adjusting shaft can also directly control the camera to move linearly to the target position according to the linear distance between the target position and the current position, and the specific implementation mode can be set according to the actual requirement in the actual cutting process.
In the display interface of the cutting calibration program, for example, the center of the blue cross line is set as the center of the camera view (i.e. the midpoint of the target scale line), the yellow line is set as the deviation distance between the cutting edge and the center of the camera, and scale lines are arranged at the left end and the right end of the display interface and used for measuring the deviation distance. Assuming that the edge line and the camera center are deviated on the y axis, after the cutting calibration program acquires the edge line image, the deviation distance between the edge line image and the camera center is automatically determined, and the deviation distance is visualized according to the length of a yellow line, for example, the length of the generated yellow line is 7.204mm, and the yellow line is parallel to the vertical line of a blue cross line, which means that the cutting edge line and the camera lens have a distance error of 7.204mm on the y axis in the horizontal direction.
In the technical solutions provided in this embodiment, a horizontal movement amount corresponding to the camera lens is determined by a horizontal offset, and the first target movement parameter associated with the camera lens is determined according to the horizontal transverse movement amount and/or the horizontal longitudinal movement amount, so that the camera lens is adjusted to align with the cutting knife when a horizontal direction deviation occurs at the cutting position, and the cutting accuracy is improved.
Referring to fig. 5, in the fourth embodiment, based on the first embodiment, the step S30 further includes:
step S33, determining a rotation angle corresponding to the camera lens according to the deflection angle, determining a horizontal movement amount corresponding to the camera lens according to the horizontal offset, and/or determining a vertical movement amount corresponding to the camera lens according to the vertical offset;
step S34, determining a second target movement parameter associated with the camera lens according to the rotation angle, the horizontal movement amount and/or the vertical movement amount.
Optionally, the present embodiment provides another way to determine the target movement parameter. In addition to the more common position deviation in the horizontal direction mentioned in the third embodiment, the conditions of vertical direction, camera lens angle deviation, etc. may also occur in the cutting process. The deviation in the vertical direction easily causes that the cutting knife can not cut the target position or the cutting position is too deep when the cutting knife is cut; in the wafer cutting process, when the wafer is cut, the direction of the split is fixed, so that the deviation of the angle deviation of the camera lens can cause the error of the cut position, and the accuracy of the wafer cutting is reduced. Since not every type of error exists at the same time in each cutting calibration process, the type of error often exists is at least one of the types of errors, and therefore when the cutting calibration program does not recognize the type of position error, the corresponding type of movement parameter is not generated.
Illustratively, assuming the program determines that there is a 4mm error in the blade and lens in the x-axis positive direction in the horizontal direction, there is a 0.3 ° lens deflection (assuming clockwise is positive), but the deviation in the vertical direction is 0, then the target movement parameters generated are: the lens is moved 4mm in the negative direction of the x axis and is rotated 0.3 degrees in the counterclockwise direction. Since there is no deviation in the vertical direction, no movement parameter in the vertical direction is generated.
In this embodiment, the rotation angle corresponding to the camera lens is determined according to the deflection angle, the horizontal movement amount corresponding to the camera lens is determined according to the horizontal offset, and/or the vertical movement amount corresponding to the camera lens is determined according to the vertical offset, so that the position deviations of more common types are covered, corresponding position compensation data is generated based on the position deviations of the types, and the cutting accuracy is improved.
In addition, the present invention also provides a cutting calibration apparatus, comprising: the cleaver comprises a cleaver, a light source, a camera adjusting shaft and a control circuit board, wherein the control circuit board comprises a memory, a processor and a cutting calibration program which is stored on the memory and can run on the processor, and the cutting calibration program realizes the steps of the cutting calibration method when being executed by the processor.
Optionally, the cutting calibration apparatus comprises: the top end of the cutting calibration equipment is provided with a riving knife which is used for executing cutting action after calibration; the light source and the camera are arranged on the lower side of the riving knife, and the camera is used for collecting a blade line of the riving knife irradiated by the light source; the camera comprises a camera lens on the upper side and a camera supporting piece on the lower side, the camera lens is used for cutting calibration, and the camera supporting piece is connected with the camera adjusting shaft on the bottom; the camera adjusting shaft comprises a vertical adjusting shaft, a horizontal adjusting shaft and a rotating shaft, and is used for controlling the camera lens to execute cutting calibration actions.
Furthermore, the present invention also provides a computer-readable storage medium, which stores a cutting calibration program, and when the cutting calibration program is executed by a processor, the cutting calibration program implements the steps of the cutting calibration method according to the above embodiment.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a computer readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A cutting calibration method, characterized in that the steps of the cutting calibration method comprise:
acquiring a blade line of a blade collected by a camera;
determining a deflection angle, a horizontal offset and/or a vertical offset between the blade edge line and a target scale line of the center position of the camera lens;
generating a target movement parameter associated with the camera lens according to the deflection angle, the horizontal offset and/or the vertical offset;
and controlling a camera adjusting shaft according to the target moving parameters so as to control the center position of the camera lens to coincide with the cutting position of the cutting edge through the camera adjusting shaft.
2. The cutting calibration method of claim 1, wherein the step of determining the offset angle, horizontal offset and vertical offset between the blade edge line and the target graduation line at the center position of the camera lens comprises:
acquiring a preset area where the target scale mark is located;
determining a relative offset position of the edge line in the preset area when the edge line is in the preset area;
and determining the offset angle, the transverse offset and the longitudinal offset between the edge line and a target graduation line according to the relative offset position.
3. The cutting calibration method of claim 2 wherein said step of determining the relative offset position of said edge line in said predetermined area when said edge line is in said predetermined area comprises:
acquiring a gray value corresponding to each pixel point in the preset area;
taking the area, corresponding to the pixel point in the preset area, of the gray values meeting the preset gray matching condition as the edge line of the blade in the preset area;
and determining the relative distance between the edge line and the central area of the preset area to obtain the relative offset position of the edge line in the preset area.
4. The cut calibration method of claim 1, wherein the step of generating the camera lens associated target movement parameter based on the yaw angle, the horizontal offset, and/or the vertical offset comprises:
determining a horizontal movement amount corresponding to the camera lens according to the horizontal offset, wherein the horizontal movement amount comprises a horizontal transverse movement amount and/or a horizontal longitudinal movement amount;
and determining a first target movement parameter related to the camera lens according to the horizontal transverse movement amount and/or the horizontal longitudinal movement amount.
5. The cut calibration method of claim 4, wherein the step of determining the first target movement parameter associated with the camera lens based on the horizontal amount of lateral movement and/or the horizontal amount of longitudinal movement comprises:
determining a horizontal transverse movement parameter of the first target movement parameter according to the horizontal transverse movement amount, and/or determining a horizontal longitudinal movement parameter of the first target movement parameter according to the horizontal longitudinal movement amount, and determining the first target movement parameter according to the horizontal transverse movement parameter and/or the horizontal longitudinal movement parameter; or
And determining a linear movement parameter of the first target movement parameter according to the horizontal transverse movement amount and the horizontal longitudinal movement amount, and taking the linear movement parameter as the first target movement parameter.
6. The cut calibration method of claim 1, wherein the step of generating the camera lens associated target movement parameter based on the yaw angle, the horizontal offset, and/or the vertical offset comprises:
determining a rotation angle corresponding to the camera lens according to the deflection angle, determining a horizontal movement amount corresponding to the camera lens according to the horizontal offset, and/or determining a vertical movement amount corresponding to the camera lens according to the vertical offset;
and determining a second target movement parameter related to the camera lens according to the rotation angle, the horizontal movement amount and/or the vertical movement amount.
7. A cutting calibration apparatus, comprising: a riving knife, a light source, a camera adjustment axis, and a control circuit board, the control circuit board including a memory, a processor, and a cut calibration program stored on the memory and executable on the processor, the cut calibration program when executed by the processor implementing the steps of the cut calibration method of any of claims 1-6.
8. The cutting calibration device of claim 7, wherein the top end of the cutting calibration device is provided with a riving knife for performing a cutting action after calibration; the light source and the camera are arranged on the lower side of the riving knife, and the camera is used for collecting a blade line of the riving knife irradiated by the light source; the camera comprises a camera lens on the upper side and a camera support on the lower side, the camera lens is used for cutting calibration, and the camera support is connected with the camera adjusting shaft on the bottom; the camera adjusting shaft comprises a vertical adjusting shaft, a horizontal adjusting shaft and a rotating shaft, and is used for controlling the camera lens to execute cutting calibration actions.
9. A computer-readable storage medium, having a cut calibration program stored thereon, which when executed by a processor, performs the steps of the cut calibration method according to any one of claims 1-6.
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| CN202210478175.8A CN115019025A (en) | 2022-04-29 | 2022-04-29 | Cutting calibration method, device and computer readable storage medium |
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| CN202210478175.8A CN115019025A (en) | 2022-04-29 | 2022-04-29 | Cutting calibration method, device and computer readable storage medium |
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| CN202210478175.8A Pending CN115019025A (en) | 2022-04-29 | 2022-04-29 | Cutting calibration method, device and computer readable storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115533394A (en) * | 2022-12-05 | 2022-12-30 | 深圳市镭沃自动化科技有限公司 | Control method of welding apparatus, and storage medium |
| CN116125907A (en) * | 2023-04-20 | 2023-05-16 | 沈阳和研科技股份有限公司 | Continuous cutting method for accidental interruption of circular cutting |
| CN116140712A (en) * | 2022-12-20 | 2023-05-23 | 苏州镁伽科技有限公司 | Cutting position determining method and device, electronic equipment and readable storage medium |
| CN116611409A (en) * | 2023-07-19 | 2023-08-18 | 北京世冠金洋科技发展有限公司 | Chart data display processing method and device, electronic equipment and storage medium |
| CN117152447A (en) * | 2023-11-01 | 2023-12-01 | 东莞市京品精密模具有限公司 | Intelligent management method and system for punching die |
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2022
- 2022-04-29 CN CN202210478175.8A patent/CN115019025A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115533394A (en) * | 2022-12-05 | 2022-12-30 | 深圳市镭沃自动化科技有限公司 | Control method of welding apparatus, and storage medium |
| CN116140712A (en) * | 2022-12-20 | 2023-05-23 | 苏州镁伽科技有限公司 | Cutting position determining method and device, electronic equipment and readable storage medium |
| CN116140712B (en) * | 2022-12-20 | 2024-01-16 | 苏州镁伽科技有限公司 | Cutting position determining method and device, electronic equipment and readable storage medium |
| CN116125907A (en) * | 2023-04-20 | 2023-05-16 | 沈阳和研科技股份有限公司 | Continuous cutting method for accidental interruption of circular cutting |
| CN116611409A (en) * | 2023-07-19 | 2023-08-18 | 北京世冠金洋科技发展有限公司 | Chart data display processing method and device, electronic equipment and storage medium |
| CN117152447A (en) * | 2023-11-01 | 2023-12-01 | 东莞市京品精密模具有限公司 | Intelligent management method and system for punching die |
| CN117152447B (en) * | 2023-11-01 | 2024-02-02 | 东莞市京品精密模具有限公司 | Intelligent management method and system for punching die |
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