CN115205379A - Multi-point calibration method of cutting and sorting machine and related equipment - Google Patents
Multi-point calibration method of cutting and sorting machine and related equipment Download PDFInfo
- Publication number
- CN115205379A CN115205379A CN202210541677.0A CN202210541677A CN115205379A CN 115205379 A CN115205379 A CN 115205379A CN 202210541677 A CN202210541677 A CN 202210541677A CN 115205379 A CN115205379 A CN 115205379A
- Authority
- CN
- China
- Prior art keywords
- calibration
- camera
- calibrated
- suction nozzle
- cutting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- 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
- G06T2207/30241—Trajectory
-
- 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 application belongs to the technical field of cutting sorting machines, and relates to a multipoint calibration method of a cutting sorting machine and related equipment, wherein the method comprises the following steps: enabling the suction nozzle to suck a standard material and move above the camera, enabling the camera to collect an image of the standard material to generate a template image, and enabling the image center of the template image to serve as a calibration reference point; placing calibration materials at a plurality of acupuncture points to be calibrated on the tray, and sequentially moving the suction nozzle to the position above each acupuncture point to be calibrated to obtain the initial position coordinates of each acupuncture point to be calibrated; and responding to the calibration request, enabling the suction nozzle to suck the calibration material according to any initial position coordinate and move to the position above the camera for taking a picture, verifying the taken picture based on the template image, obtaining a corrected value of the initial position coordinate in the current calibration, correcting the position coordinate, obtaining a final position coordinate, and completing calibration. The application provides a technical scheme can reduce the suction position deviation when the material is absorb to the suction nozzle, improves the success rate and the stability that the material was absorbed and put to the suction nozzle.
Description
Technical Field
The present disclosure relates to the field of earphone technologies, and more particularly, to a method and an apparatus for calibrating multiple points of a cutting and sorting machine, and a computer-readable storage medium.
Background
The existing calibration technology of the cutting sorting machine adopts a corresponding relation between a camera and a material physical point, the camera and a suction nozzle are required to be positioned at the same side (the horizontal height of the material is taken as a plane, and the camera and the suction nozzle are positioned above a horizontal plane), the relative position relation between the camera and the suction nozzle needs to be constructed, specifically, the material is sucked up by the suction nozzle to be placed at a certain position as a fixed point and the position coordinate is recorded as (X, Y), then the camera fixed around the suction nozzle is moved to the field range of the camera for taking a picture, a position point recording position coordinate (X ', Y') is obtained from the central position of the picture, and the value of the suction nozzle deviating to the central position is obtained, so that the relative position relation between the camera and the suction nozzle is obtained, wherein the deviation value is (X-X ', Y-Y').
The calibration alignment mode has a problem: the back position (the contact position of the suction nozzle and the material) of the material sucked by the suction nozzle cannot be correctly positioned in the middle position of the material, so that the sucking position deviation is caused, the camera can transversely swing along with the movement of the suction nozzle, the calibration accuracy is influenced, and the success rate and the stability of the sucking and placing of the material are influenced.
Disclosure of Invention
In view of this, the embodiment of the present application provides a multipoint calibration method for a cutting and sorting machine, which solves the technical problems that in the prior art, the back position of a material sucked by a suction nozzle cannot be correctly located at the middle position of the material, so that the sucking position is deviated, and a camera can swing transversely along with the movement of the suction nozzle, so that the calibration accuracy is affected, and the success rate and stability of the sucking and placing of the material are affected. On the basis, the multipoint calibration device of the cutting sorting machine, the cutting sorting machine and the computer readable storage medium are provided.
In order to solve the above technical problem, an embodiment of the present application provides a multipoint calibration method for a cutting and sorting machine, which adopts the following technical scheme:
a multi-point calibration method of a cutting and sorting machine, the cutting and sorting machine comprising a camera, a tray and a suction nozzle, the method comprising:
enabling the suction nozzle on one side of the plane where the tray is located to suck a standard material and moving the suction nozzle to the position above the camera on the other side of the plane where the tray is located, enabling the camera to collect an image of the standard material to generate a template image, and enabling the image center of the template image to serve as a calibration reference point;
placing calibration materials at a plurality of acupuncture points to be calibrated on the tray, and sequentially moving the suction nozzle to the position above each acupuncture point to be calibrated to obtain the initial position coordinates of each acupuncture point to be calibrated;
responding to a calibration request, enabling the suction nozzle to move to a corresponding acupuncture point to be calibrated according to any initial position coordinate, sucking a calibration material and moving to the position above the camera for taking a picture, verifying the taken picture based on the template image to obtain a corrected value of the initial position coordinate in the current calibration, and correcting the position coordinate according to the corrected value to obtain a final position coordinate to finish calibration;
and repeating the previous step to calibrate another acupoint to be calibrated until all the acupoints to be calibrated are calibrated.
Further, the step of correcting the position coordinate according to the correction value to obtain a final position coordinate and complete calibration specifically includes:
after position coordinate correction is carried out according to the correction value, whether the absolute value of the correction value is smaller than a preset threshold value or not is judged, and if yes, the final position coordinate is obtained to finish calibration;
and if not, the suction nozzle puts the sucked calibration material back to the original position, sucks the calibration material again according to the corrected position coordinate, moves the calibration material to the position above the camera for taking a picture, verifies the taken picture based on the template image to obtain a new correction value, corrects the position coordinate according to the new correction value until the new correction value is smaller than the preset threshold value, and obtains the final coordinate to finish calibration.
Further, the step of causing the camera to capture an image of the standard material to generate a template image includes:
and judging whether the edge of the standard material in the camera view field rotates relative to the edge of the camera view field, if so, rotating the sucker according to a preset coordinate system to enable the edge of the standard material to be consistent with the edge of the camera view field in position, and acquiring an image of the standard material to generate a template image.
Further, the acupuncture points to be calibrated are respectively located at the corner positions of the tray, and the method comprises the following steps:
and generating a calibration track according to the corner position distribution of the acupuncture points to be calibrated, so that the suction nozzle and the camera sequentially execute calibration operation on the acupuncture points to be calibrated on the calibration track according to the calibration track.
Further, after all the acupuncture points to be calibrated are calibrated, the method further comprises the following steps:
and judging whether the running time or the running times of the cutting and sorting machine reach a preset value, if so, executing the calibration operation again, and otherwise, not executing the calibration operation.
In order to solve the above technical problem, an embodiment of the present application further provides a multipoint calibration device of a cutting and sorting machine, which adopts the following technical scheme:
a multi-point calibration apparatus for a cutting and sorting machine, the apparatus comprising:
the template image generation module is used for enabling the suction nozzle positioned on one side of the plane where the tray is positioned to suck a standard material and moving the suction nozzle to the position above the camera positioned on the other side of the plane where the tray is positioned, enabling the camera to collect an image of the standard material to generate a template image, and taking the image center of the template image as a calibration reference point;
the coordinate generating module is used for placing calibration materials at a plurality of acupuncture points to be calibrated on the tray, and enabling the suction nozzle to sequentially move to the upper part of each acupuncture point to be calibrated so as to obtain the initial position coordinates of each acupuncture point to be calibrated;
the calibration module is used for responding to a calibration request, enabling the suction nozzle to move to a corresponding acupuncture point to be calibrated according to any initial position coordinate, sucking a calibration material, moving to the position above the camera for taking a picture, verifying the taken picture based on the template image to obtain a corrected value of the initial position coordinate in the current calibration, and correcting the position coordinate according to the corrected value to obtain a final position coordinate to finish calibration; and calibrating the other acupoint to be calibrated until all the acupoints to be calibrated are calibrated.
Further, the calibration module corrects the position coordinate according to the correction value to obtain a final position coordinate and finishes calibration, and is specifically configured to determine whether the absolute value of the correction value is smaller than a preset threshold value after correcting the position coordinate according to the correction value, and if so, obtain the final position coordinate and finish calibration; and if not, the suction nozzle puts the sucked calibration material back to the original position, sucks the calibration material again according to the corrected position coordinate, moves the calibration material to the position above the camera for taking a picture, verifies the taken picture based on the template image to obtain a new correction value, corrects the position coordinate according to the new correction value until the new correction value is smaller than the preset threshold value, and obtains the final coordinate to finish calibration.
Further, the template image generation module is configured to, when the camera captures the image of the standard material to generate a template image, specifically determine whether an edge of the standard material in the camera field of view rotates relative to an edge of the camera field of view, if so, rotate the suction cup according to a preset coordinate system to keep the edge of the standard material consistent with the edge of the camera field of view in the direction, and capture the image of the standard material to generate the template image.
In order to solve the technical problem, an embodiment of the present application further provides a cutting and sorting machine, which adopts the following technical scheme:
a cutting and sorting machine comprises a suction nozzle, a tray, a camera, a memory and a processor, wherein the camera and the suction nozzle are positioned on two sides of the plane of the tray, the processor is in communication connection with the suction nozzle and the camera, the memory stores computer readable instructions, and the processor executes the computer readable instructions to realize the steps of the multipoint calibration method of the cutting and sorting machine.
In order to solve the foregoing technical problem, an embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solutions:
a computer readable storage medium having computer readable instructions stored thereon which, when executed by a processor, implement the steps of a multi-point calibration method for a cutting and sorting machine as described above.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects:
the application provides a multipoint calibration method of a cutting separator, through setting up camera and suction nozzle in the different sides of tray respectively, make the camera be in the material downside, when the sucking disc absorbs the material and marks, can avoid the horizontal hunting's of demarcation in-process camera influence for mark the precision improvement, reduce the suction position deviation when the suction nozzle absorbs the material, improve success rate and the stability that the suction nozzle absorbs and puts the material.
Drawings
In order to illustrate the solution of the present application more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a flow chart of one embodiment of a multi-point calibration method of a cutting and sorting machine of the present application;
FIG. 2 is a schematic diagram showing the relative positions of the camera, the tray and the suction nozzle of the cutting and sorting machine of the present application;
FIG. 3 is a schematic structural diagram of one embodiment of a multi-point calibration device of the cutting and sorting machine of the present application;
FIG. 4 is a schematic block diagram of one embodiment of a computer device according to the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, a flow diagram of one embodiment of a method of multi-point calibration of a cutting sorter according to the present application is shown. The multipoint calibration method of the cutting and sorting machine comprises the following steps:
step S101, enabling the suction nozzle on one side of the plane where the tray is located to suck a standard material and moving the suction nozzle to the position above the camera on the other side of the plane where the tray is located, enabling the camera to collect an image of the standard material to generate a template image, and enabling the image center of the template image to serve as a calibration reference point.
In this embodiment, when the multi-point calibration is started, the suction nozzle is started to vacuum-suck a standard material, and when the suction nozzle sucks the standard material, the suction nozzle just sucks the central position of the standard material through the position adjustment of the standard material or the suction nozzle, wherein the standard material is a material to be cut and sorted and is the same as a later calibration material. Referring to fig. 2 together, fig. 2 (a) is a schematic diagram of the relative position relationship of the camera, the tray and the suction nozzle in a plan view, fig. 2 (b) is a schematic diagram of the relative position relationship of the camera, the tray and the suction nozzle in an elevation view, the camera is located obliquely below the material, or directly below the material in other embodiments, and the tray is made of a transparent material, which is not limited herein. Further, after the suction nozzle sucks the standard material, the suction nozzle moves towards the camera along the X-axis direction, the camera is located at a fixed position on the XY coordinate system, therefore, the influence caused by swinging of the camera can be avoided, after the suction cup moves to the D4 position above the camera, the standard material is located in the camera view, the camera view is a rectangular view, the rectangular edge of the view is parallel to the X-axis or the Y-axis of the XY coordinate system, and the camera photographs the standard material to generate a template image.
In this embodiment, the step of causing the camera to capture the image of the standard material to generate a template image includes: and judging whether the edge of the standard material in the camera view field rotates relative to the edge of the camera view field, if so, rotating the sucker according to a preset coordinate system to enable the edge of the standard material to be consistent with the edge of the camera view field in position, and acquiring an image of the standard material to generate a template image. When the edge of the standard material in the camera visual field is not parallel to the X axis or the Y axis, the edge of the standard material in the camera visual field rotates relative to the edge of the camera visual field, the sucker is rotated through a preset XY coordinate system, the XY axes of the standard material and the camera visual field are adjusted to be horizontally and vertically consistent, a template image is generated by photographing, after the template image is generated, the image center of the template image is saved as a calibration reference point according to the XY coordinate system in the image, the coordinates of the calibration reference point correspond to the point coordinates of the suction nozzle for fixed-point photographing above the camera, and the physical coordinates (X4 and Y4) of the calibration reference point are specifically saved, so that the suction nozzle is guaranteed to move to a D4 position based on the physical coordinates every time, and the photographing position of the camera is guaranteed to be unchanged every time.
Step S102, placing calibration materials at a plurality of acupuncture points to be calibrated on the tray, and enabling the suction nozzle to move above each acupuncture point to be calibrated in sequence to obtain initial position coordinates of each acupuncture point to be calibrated.
In this step, a standard material on a suction nozzle is taken away, and then a calibration material is placed on an acupoint to be calibrated on a tray in a vacuum suction manner or a manual placement manner by the suction nozzle, the acupoint to be calibrated can be any position on the tray, in this embodiment, the number of the acupoint to be calibrated is 3, three positions D1, D2 and D3 shown in a 3 acupoint diagram 2 (a) to be calibrated are provided, the suction nozzle places 3 calibration materials on the 3 acupoints to be calibrated respectively, then initial position coordinates are obtained, specifically, the suction nozzle is moved to a position above the acupoint to be calibrated on which the standard material is placed, the suction nozzle can be lowered to suck the standard material by adjusting the position of the suction nozzle, at this time, coordinates of the suction nozzle above the acupoint to be calibrated are recorded based on a preset XY coordinate system, and the operation is performed for each acupoint to be calibrated, so that initial position coordinates (X1, Y1), (X2, Y2), (X3 and Y3) of the three positions D3 can be obtained, and the coordinates are coordinates of initial material taking or placing of the suction nozzle.
Step S103, responding to the calibration request, enabling the suction nozzle to move to a corresponding to-be-calibrated acupoint according to any one initial position coordinate, sucking the calibration material and moving to the position above the camera for taking a picture, verifying the taken picture based on the template image to obtain a corrected value of the initial position coordinate in the current calibration, correcting the position coordinate according to the corrected value to obtain a final position coordinate, completing calibration, and when the suction disc sucks the calibration material or the material to be processed, just sucking the central position of the material, so that the sucking position deviation can be avoided, and the sucking accuracy and stability are improved.
In this embodiment, the calibration request may be initiated by clicking a function button, and the calibration request may be in this step or before step S101.
In this embodiment, the plurality of acupuncture points to be calibrated are preferably located at the corners of the tray, respectively, and the method includes: and generating a calibration track according to the corner position distribution of the acupuncture points to be calibrated, and enabling the suction nozzle and the camera to sequentially execute calibration operation on the acupuncture points to be calibrated on the calibration track according to the calibration track. Through will waiting to mark the acupuncture point setting in the corner position of tray, can guarantee that each waits to mark the acupuncture point and can separate the distance far enough, avoid taking place to pile up between the material, also be favorable to demarcating the formation of orbit simultaneously, set for suitable demarcation orbit according to the distribution of waiting to demarcate the acupuncture point, can effectively improve and demarcate efficiency, for example can be according to D1, D2, the order of D3 formation in fig. 2 (a) marks the orbit.
In this embodiment, if there is a calibration track, calibration is performed according to the calibration track, if there is no calibration track, an initial position coordinate may be selected nearby arbitrarily for calibration, with reference to fig. 2, if the suction nozzle first calibrates an acupoint to be calibrated at D1, the suction nozzle first sucks the calibration material at D1 to move to D4 according to the initial position coordinate (X1, Y1) sucking the calibration material, and takes a picture, the taken picture is compared with the template image obtained in the previous step, offset values (Ox 1, oy 1) in the X-axis and Y-axis directions of the center of the taken picture and the center of the template image are obtained, ox1 and Oy1 are signed, the offset value is a corrected value of the initial position coordinate in the current calibration, the initial position coordinate in the current calibration is corrected to (X1 + Ox1, Y1+ Oy 1) according to the corrected value, then the calibration material is placed back to D1, and calibration to be currently calibrated is completed.
In some embodiments, the step of performing position coordinate correction according to the correction value to obtain a final position coordinate and complete calibration specifically includes: after position coordinate correction is carried out according to the correction value, whether the absolute value of the correction value is smaller than a preset threshold value or not is judged, and if yes, the final position coordinate is obtained to finish calibration; and if not, the suction nozzle puts the sucked calibration material back to the original position, sucks the calibration material again according to the corrected position coordinate, moves the calibration material to the position above the camera for taking a picture, verifies the taken picture based on the template image to obtain a new correction value, corrects the position coordinate according to the new correction value until the new correction value is smaller than the preset threshold value, and obtains the final coordinate to finish calibration. As shown in fig. 2, if the absolute values of Ox1 and Oy1 are greater than a preset threshold, for example, 0.01mm, at this time, the suction nozzle first sucks the calibration material at position D1 to move to position D4 for taking a picture according to the corrected initial position coordinates (X1 + Ox1, Y1+ Oy 1) of the sucked calibration material, compares and verifies the shot picture with the template image obtained in the previous step to obtain new offset values (Ox 1', oy 1'), ox1 'and Oy1' with symbols in the X-axis and Y-axis directions of the center of the shot picture and the center of the template image to obtain new correction values, corrects the coordinates of the sucking position of the material according to the new correction values until the new correction values are less than the preset threshold, completes the calibration of the current acupuncture point to be calibrated, and then puts the calibration material back to the original position.
And step S104, repeating the step S103 to calibrate another acupoint to be calibrated until all the acupoints to be calibrated are calibrated.
In some embodiments, after calibration is completed for all acupuncture points to be calibrated, the method further includes: and judging whether the running time or the running times of the cutting and sorting machine reach a preset value, if so, executing the calibration operation again, and otherwise, not executing the calibration operation. The calibration can be performed again when the calibration coordinates are deviated due to structural wear when the cutting and sorting machine is used for a period of time.
The application provides a multipoint calibration method of a cutting separator, through setting up camera and suction nozzle in the different sides of tray respectively, make the camera fix and place in the material below, when the sucking disc absorbs the material and marks, can avoid the horizontal wobbling influence of demarcation in-process camera, make and mark the precision improvement, the contact position with the material just in time is in the central point of material when the suction nozzle absorbs the material and puts, can reduce the absorption position deviation when the suction nozzle absorbs the material, improve success rate and the stability that the suction nozzle absorbs and puts the material. Compared with the existing scheme, the structure is simplified, and the hardware cost is reduced.
The embodiment of the application can acquire and process related data based on an artificial intelligence technology. Among them, artificial Intelligence (AI) is a theory, method, technique and application system that simulates, extends and expands human Intelligence using a digital computer or a machine controlled by a digital computer, senses the environment, acquires knowledge and uses the knowledge to obtain the best result.
The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a robot technology, a biological recognition technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware associated with computer readable instructions, which can be stored in a computer readable storage medium, and when executed, the processes of the embodiments of the methods described above can be included. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
With further reference to fig. 3, as an implementation of the method shown in fig. 1, the present application provides an embodiment of a multi-point calibration apparatus for a cutting and sorting machine, which corresponds to the embodiment of the method shown in fig. 1, and which can be applied to various electronic devices.
As shown in fig. 3, the multi-point calibration device of the cutting and sorting machine according to the present embodiment includes: a template image generation module 301, a coordinate generation module 302 and a calibration module 303.
In this embodiment, the template image generating module 301 is configured to enable the suction nozzle located on one side of the plane where the tray is located to suck a standard material, and move to a position above the camera located on the other side of the plane where the tray is located, enable the camera to collect an image of the standard material to generate a template image, and use an image center of the template image as a calibration reference point. In some embodiments, the template image generation module is configured to, when the camera captures the image of the standard material to generate the template image, specifically, determine whether an edge of the standard material in the camera field of view rotates relative to an edge of the camera field of view, if so, rotate the suction cup according to a preset coordinate system to keep the edge of the standard material consistent with the edge of the camera field of view in azimuth, and capture the image of the standard material to generate the template image.
When the template image generation module 301 performs the relevant steps, the specific implementation process may refer to the relevant contents of the above method embodiments, and is not expanded here.
In this embodiment, the coordinate generating module 302 is configured to place calibration materials on a plurality of acupuncture points to be calibrated on the tray, so that the suction nozzle sequentially moves above each acupuncture point to be calibrated, and obtain initial position coordinates of each acupuncture point to be calibrated.
The calibration module 303 is configured to respond to a calibration request, move the suction nozzle to a corresponding acupoint to be calibrated according to any initial position coordinate, suck a calibration material and move the calibration material to a position above the camera for taking a picture, verify the taken picture based on the template image to obtain a corrected value of the initial position coordinate in the current calibration, correct the position coordinate according to the corrected value, and obtain a final position coordinate to complete calibration; and calibrating the other acupoint to be calibrated until all the acupoints to be calibrated are calibrated.
In some embodiments, the calibration module 303 corrects the position coordinate according to the correction value to obtain a final position coordinate, and when the calibration is completed, is specifically configured to determine whether the absolute value of the correction value is smaller than a preset threshold value after correcting the position coordinate according to the correction value, and if so, obtain the final position coordinate to complete the calibration; and if not, the suction nozzle puts the sucked calibration material back to the original position, sucks the calibration material again according to the corrected position coordinate, moves the calibration material to the position above the camera for taking a picture, verifies the taken picture based on the template image to obtain a new correction value, corrects the position coordinate according to the new correction value until the new correction value is smaller than the preset threshold value, and obtains the final coordinate to finish calibration.
In some embodiments, the multiple acupuncture points to be calibrated are preferably located at corner positions of the tray, respectively, and the calibration module 303 is further configured to generate calibration tracks according to the distribution of the corner positions of the multiple acupuncture points to be calibrated, so that the suction nozzle and the camera sequentially perform calibration operations on the acupuncture points to be calibrated on the calibration tracks according to the calibration tracks.
In some embodiments, the calibration module 303 is further configured to determine whether the operation time or the operation frequency of the cutting and sorting machine reaches a preset value after all the acupuncture points to be calibrated are calibrated, if so, the calibration operation is executed again, otherwise, the calibration operation is not executed. The calibration can be performed again when the calibration coordinates are deviated due to structural wear when the cutting and sorting machine is used for a period of time.
When the calibration module 303 performs the relevant steps, the specific implementation process may refer to relevant contents of the above method embodiments, and is not expanded herein.
The application provides a multiple spot calibration device of cutting sorter, through setting up camera and the suction nozzle in the different sides of tray respectively, make the camera fix and place in the material below, when the sucking disc absorbs the material and marks, can avoid the horizontal wobbling influence of demarcation in-process camera, make and mark the precision and improve, the contact position with the material just in time is in the central point of material when the suction nozzle absorbs the material puts, can reduce the suction position deviation when the suction nozzle absorbs the material, improve success rate and the stability that the suction nozzle absorbs and puts the material. Compared with the existing scheme, the structure is simplified, and the hardware cost is reduced.
In order to solve the technical problem, the embodiment of the application further provides a cutting and sorting machine. Referring to fig. 4, fig. 4 is a partial block diagram of a cutting and sorting machine according to the present embodiment.
The cutting and sorting machine 4 comprises a suction nozzle (not shown), a tray (not shown), a camera (not shown) and a memory 41, a processor 42 and a network interface 43 which are mutually connected in communication through a system bus, wherein the camera and the suction nozzle are positioned at two sides of the plane of the tray, and the processor is connected with the suction nozzle and the camera in communication. It should be noted that the figures only show a cutting and sorting machine 4 with components 41-43, but it should be understood that not all of the shown components are required and that more or less components may be implemented instead. The cutting and sorting machine can be in man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch panel or voice control equipment and the like.
The memory 41 includes at least one type of readable storage medium including flash memory, hard disks, multimedia cards, card-type memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disks, optical disks, etc. In some embodiments, the memory 41 may be an internal storage unit of the cutting and sorting machine 4. In other embodiments, the memory 41 may also be an external storage device of the cutting and sorting machine 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the cutting and sorting machine 4. Of course, the memory 41 may also include both an internal storage unit of the cutting and sorting machine 4 and an external storage device thereof. In this embodiment, the memory 41 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 42 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor 42 is typically used to control the overall operation of the cutting and sorting machine 4. In this embodiment, the processor 42 is configured to execute computer readable instructions or processing data stored in the memory 41, for example, computer readable instructions for executing the multi-point calibration method of the cutting and sorting machine.
The network interface 43 may comprise a wireless network interface or a wired network interface, and the network interface 43 is generally used for establishing communication connection between the computer device 4 and other electronic devices.
The computer device provided by this example has the same technical effects as the above method embodiments when executing relevant computer readable instructions, and is not expanded herein.
The present application further provides another embodiment, which is to provide a computer-readable storage medium storing computer-readable instructions executable by at least one processor to cause the at least one processor to perform the steps of the multi-point calibration method of the cutting and sorting machine as described above.
The computer readable instructions in the computer readable storage medium provided by this example have the same technical effects as the above method embodiments when executed, and are not expanded herein.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as 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 application.
It should be understood that the above-described embodiments are merely exemplary of some, and not all, embodiments of the present application, and that the drawings illustrate preferred embodiments of the present application without limiting the scope of the claims appended hereto. This application is capable of embodiments in many different forms and the embodiments are provided so that this disclosure will be thorough and complete. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (10)
1. A multi-point calibration method for a cutting and sorting machine, wherein the cutting and sorting machine comprises a camera, a tray and a suction nozzle, and the method comprises the following steps:
enabling the suction nozzle on one side of the plane where the tray is located to suck a standard material and move to the position above the camera on the other side of the plane where the tray is located, enabling the camera to collect an image of the standard material to generate a template image, and enabling the image center of the template image to serve as a calibration reference point;
placing calibration materials at a plurality of acupuncture points to be calibrated on the tray, and sequentially moving the suction nozzle to the position above each acupuncture point to be calibrated to obtain the initial position coordinates of each acupuncture point to be calibrated;
responding to a calibration request, enabling the suction nozzle to move to a corresponding acupuncture point to be calibrated according to any initial position coordinate, sucking a calibration material and moving to the position above the camera for taking a picture, verifying the taken picture based on the template image to obtain a corrected value of the initial position coordinate in the current calibration, and correcting the position coordinate according to the corrected value to obtain a final position coordinate to finish calibration;
and repeating the previous step to calibrate another acupoint to be calibrated until all the acupoints to be calibrated are calibrated.
2. The multipoint calibration method of the cutting and sorting machine according to claim 1, wherein the step of correcting the position coordinates according to the correction value to obtain the final position coordinates to complete calibration specifically comprises:
after position coordinate correction is carried out according to the correction value, whether the absolute value of the correction value is smaller than a preset threshold value or not is judged, and if yes, the final position coordinate is obtained to finish calibration;
and if not, enabling the suction nozzle to put the sucked calibration material back to the original position, sucking the calibration material again according to the corrected position coordinate, moving the calibration material to the position above the camera for taking a picture, verifying the taken picture based on the template image to obtain a new corrected value, correcting the position coordinate according to the new corrected value until the new corrected value is smaller than the preset threshold value, and obtaining a final coordinate to finish calibration.
3. The multipoint calibration method of the cutting and sorting machine according to claim 1 or 2, wherein the step of causing the camera to acquire the image of the standard material to generate a template image comprises:
and judging whether the edge of the standard material in the camera view field rotates relative to the edge of the camera view field, if so, rotating the sucker according to a preset coordinate system to enable the edge of the standard material to be consistent with the edge of the camera view field in position, and acquiring an image of the standard material to generate a template image.
4. The multipoint calibration method of the cutting and sorting machine according to claim 3, wherein the plurality of acupuncture points to be calibrated are respectively located at corner positions of the tray, and the method comprises the following steps:
and generating a calibration track according to the corner position distribution of the acupuncture points to be calibrated, and enabling the suction nozzle and the camera to sequentially execute calibration operation on the acupuncture points to be calibrated on the calibration track according to the calibration track.
5. The multipoint calibration method of the cutting and sorting machine according to claim 3, wherein after calibration is completed for all the acupuncture points to be calibrated, the method further comprises:
and judging whether the running time or the running times of the cutting and sorting machine reach a preset value, if so, executing the calibration operation again, and otherwise, not executing the calibration operation.
6. A multipoint calibration device for a cutting and sorting machine, the device comprising:
the template image generation module is used for enabling the suction nozzle positioned on one side of the plane where the tray is positioned to suck a standard material and moving the suction nozzle to the position above the camera positioned on the other side of the plane where the tray is positioned, enabling the camera to acquire an image of the standard material to generate a template image, and taking the image center of the template image as a calibration reference point;
the coordinate generating module is used for placing calibration materials at a plurality of acupuncture points to be calibrated on the tray, and enabling the suction nozzle to sequentially move to the upper part of each acupuncture point to be calibrated so as to obtain the initial position coordinates of each acupuncture point to be calibrated;
the calibration module is used for responding to a calibration request, enabling the suction nozzle to move to a corresponding acupuncture point to be calibrated according to any initial position coordinate, sucking calibration materials, moving to the position above the camera for taking a picture, verifying the taken picture based on the template image to obtain a corrected value of the initial position coordinate in current calibration, correcting the position coordinate according to the corrected value to obtain a final position coordinate and completing calibration; and calibrating the other acupoint to be calibrated until all the acupoints to be calibrated are calibrated.
7. The multipoint calibration device of the cutting and sorting machine according to claim 6, wherein the calibration module corrects the position coordinates according to the correction value to obtain the final position coordinates, and when the calibration is completed, the calibration module is specifically configured to determine whether the absolute value of the correction value is smaller than a preset threshold value after correcting the position coordinates according to the correction value, and if so, obtain the final position coordinates to complete the calibration; and if not, enabling the suction nozzle to put the sucked calibration material back to the original position, sucking the calibration material again according to the corrected position coordinate, moving the calibration material to the position above the camera for taking a picture, verifying the taken picture based on the template image to obtain a new corrected value, correcting the position coordinate according to the new corrected value until the new corrected value is smaller than the preset threshold value, and obtaining a final coordinate to finish calibration.
8. The multi-point calibration device of the cutting and sorting machine according to claim 6 or 7, wherein the template image generation module is configured to determine whether the edge of the standard material in the camera view field rotates with respect to the edge of the camera view field when the camera captures the image of the standard material to generate the template image, and capture the image of the standard material to generate the template image if the suction cup rotates according to a preset coordinate system to keep the edge of the standard material consistent with the edge of the camera view field in position.
9. A cutting and sorting machine, characterized in that the cutting and sorting machine comprises a suction nozzle, a tray, a camera, a memory and a processor, wherein the camera and the suction nozzle are positioned at two sides of the plane of the tray, the processor is connected with the suction nozzle and the camera in a communication way, the memory is stored with computer readable instructions, and the processor executes the computer readable instructions to realize the steps of the multipoint calibration method of the cutting and sorting machine according to any one of claims 1 to 5.
10. A computer readable storage medium having computer readable instructions stored thereon which, when executed by a processor, implement the steps of the multi-point calibration method of a cutting and sorting machine of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210541677.0A CN115205379B (en) | 2022-05-17 | 2022-05-17 | Multi-point calibration method of cutting separator and related equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210541677.0A CN115205379B (en) | 2022-05-17 | 2022-05-17 | Multi-point calibration method of cutting separator and related equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115205379A true CN115205379A (en) | 2022-10-18 |
| CN115205379B CN115205379B (en) | 2023-09-12 |
Family
ID=83574883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210541677.0A Active CN115205379B (en) | 2022-05-17 | 2022-05-17 | Multi-point calibration method of cutting separator and related equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115205379B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11264718A (en) * | 1998-01-14 | 1999-09-28 | Hitachi Metals Ltd | Position grasping method of wafer, and exposing method and exposing device thereof |
| CN103706568A (en) * | 2013-11-26 | 2014-04-09 | 中国船舶重工集团公司第七一六研究所 | System and method for machine vision-based robot sorting |
| CN105643092A (en) * | 2014-11-13 | 2016-06-08 | 大族激光科技产业集团股份有限公司 | Method for regaining coordinates of workpiece through CCD during combined machining |
| CN106998624A (en) * | 2017-04-25 | 2017-08-01 | 广州市楚微信息科技有限公司 | Surface encapsulation chip mounter suction nozzle concentricity automatic compensating method and system |
| CN111037559A (en) * | 2019-12-25 | 2020-04-21 | 深圳科瑞技术股份有限公司 | Quick calibration method and device for position of material tray of machine and storage medium |
| CN112621743A (en) * | 2020-11-19 | 2021-04-09 | 深圳众为兴技术股份有限公司 | Robot, hand-eye calibration method for fixing camera at tail end of robot and storage medium |
| CN113240731A (en) * | 2021-06-28 | 2021-08-10 | 浙江华睿科技股份有限公司 | Method and device for determining central position of tray, electronic equipment and storage medium |
-
2022
- 2022-05-17 CN CN202210541677.0A patent/CN115205379B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11264718A (en) * | 1998-01-14 | 1999-09-28 | Hitachi Metals Ltd | Position grasping method of wafer, and exposing method and exposing device thereof |
| CN103706568A (en) * | 2013-11-26 | 2014-04-09 | 中国船舶重工集团公司第七一六研究所 | System and method for machine vision-based robot sorting |
| CN105643092A (en) * | 2014-11-13 | 2016-06-08 | 大族激光科技产业集团股份有限公司 | Method for regaining coordinates of workpiece through CCD during combined machining |
| CN106998624A (en) * | 2017-04-25 | 2017-08-01 | 广州市楚微信息科技有限公司 | Surface encapsulation chip mounter suction nozzle concentricity automatic compensating method and system |
| CN111037559A (en) * | 2019-12-25 | 2020-04-21 | 深圳科瑞技术股份有限公司 | Quick calibration method and device for position of material tray of machine and storage medium |
| CN112621743A (en) * | 2020-11-19 | 2021-04-09 | 深圳众为兴技术股份有限公司 | Robot, hand-eye calibration method for fixing camera at tail end of robot and storage medium |
| CN113240731A (en) * | 2021-06-28 | 2021-08-10 | 浙江华睿科技股份有限公司 | Method and device for determining central position of tray, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115205379B (en) | 2023-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3705239A1 (en) | Calibration system and method for robotic cells | |
| CN111292379B (en) | Depth camera correction device and method thereof | |
| US9024896B2 (en) | Identification method for simultaneously identifying multiple touch points on touch screens | |
| CN110163912B (en) | Two-dimensional code pose calibration method, device and system | |
| US9384551B2 (en) | Automatic rectification of stereo imaging cameras | |
| US10223589B2 (en) | Vision system for training an assembly system through virtual assembly of objects | |
| WO2019024863A1 (en) | Control method, apparatus and system for robot, and applicable robot | |
| JP2007245283A (en) | Workpiece attitude detecting device, workpiece attitude detecting method, picking system, and picking method | |
| CN106363304A (en) | Multi-camera correcting and positioning method and glass laser cutting device | |
| CN110076029A (en) | Glue spraying control method, system, computer equipment and computer storage medium | |
| CN113744336A (en) | Auxiliary positioning method and device and computer readable storage medium | |
| US20150051724A1 (en) | Computing device and simulation method for generating a double contour of an object | |
| CN105654531A (en) | Method and device for drawing image contour | |
| CN112950528A (en) | Certificate posture determining method, model training method, device, server and medium | |
| CN115205379A (en) | Multi-point calibration method of cutting and sorting machine and related equipment | |
| CN112633187B (en) | Automatic robot carrying method, system and storage medium based on image analysis | |
| CN113628282A (en) | Pattern projection correction apparatus, method, and computer-readable storage medium | |
| CN111037559B (en) | Quick calibration method and device for position of material tray of machine and storage medium | |
| CN116168404B (en) | Intelligent document processing method and system based on space transformation | |
| CN111832558A (en) | Character image correction method, device, storage medium and electronic equipment | |
| CN114862963A (en) | Bonding positioning method, device, equipment and storage medium | |
| CN115937003A (en) | Image processing method, image processing device, terminal equipment and readable storage medium | |
| WO2023077665A1 (en) | Palm position determination method and apparatus, and electronic device and storage medium | |
| CN111526297B (en) | Curved screen image acquisition method and device and terminal equipment | |
| CN106600531B (en) | Handheld scanner, and handheld scanner point cloud splicing method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |