CN115471446A - Slot position coordinate obtaining method and device and storage medium - Google Patents
Slot position coordinate obtaining method and device and storage medium Download PDFInfo
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- CN115471446A CN115471446A CN202210719449.8A CN202210719449A CN115471446A CN 115471446 A CN115471446 A CN 115471446A CN 202210719449 A CN202210719449 A CN 202210719449A CN 115471446 A CN115471446 A CN 115471446A
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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
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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
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
Abstract
The embodiment of the application provides a slot position coordinate obtaining method, a slot position coordinate obtaining device and a storage medium, wherein the slot position coordinate obtaining method comprises the following steps: acquiring coordinates of a calibration point of a material tray; obtaining the coordinate of the preset central point of the slot position to be measured on the material disc according to the setting parameters of the material disc and the coordinate of the calibration point; acquiring a first image according to the coordinates of the preset central point; matching the first image with a preset slot position image to obtain a second image; and obtaining the coordinate of the actual central point of the slot position to be detected according to the first image, the second image and the coordinate of the preset central point.
Description
Technical Field
The present disclosure relates to the field of vision measurement and positioning, and in particular, to a method and an apparatus for acquiring slot coordinates and a storage medium.
Background
In the production process of Solid State Drive (SSD) series products, an SSD needs to be placed in a groove on a tray, and the SSD needs to be taken and placed by a manipulator of an automatic machine. In the prior art, parameters of a material tray, such as the length of the material tray, the interval of groove positions on the material tray and the like, need to be manually input according to the type of the material tray, so that a mechanical arm formulates a motion path to move to the groove positions according to the input parameters. However, the tray may have errors in size during manufacturing, and even the same tray may cause the slots to shift during multiple uses. If parameters input according to models are used, there may occur a case where the robot arm cannot be precisely moved to the slot position due to an error in actual use.
Disclosure of Invention
In view of the above, it is desirable to provide a slot position coordinate obtaining method, device and storage medium, which can avoid the situation that the manipulator cannot accurately move to the slot position due to the error generated during the manufacturing or using process of the tray.
A first aspect of the present application provides a slot position coordinate acquiring method, including:
(a) Acquiring coordinates of a calibration point of a material tray;
(b) Obtaining the coordinate of the preset central point of the slot position to be detected on the charging tray according to the setting parameters of the charging tray and the coordinate of the calibration point;
(c) Acquiring a first image according to the coordinates of the preset central point;
(d) Matching the first image with a preset slot position image to obtain a second image; and
(e) And obtaining the coordinate of the actual central point of the slot position to be detected according to the first image, the second image and the coordinate of the preset central point.
According to a specific embodiment of the first aspect of the present application, the step (a) includes: moving the mechanical arm provided with the camera to the position above the calibration point; identifying the calibration point through the camera, and adjusting the position of the manipulator to enable the calibration point to be located in the middle of a viewing frame of the camera; and taking the coordinate of the current position of the manipulator as the coordinate of the calibration point.
According to a specific embodiment of the first aspect of the present application, the step (c) includes: moving a mechanical arm provided with a camera to the position above the slot position to be measured according to the coordinate of the preset central point; and acquiring the first image, wherein the first image is an image shot by the camera.
According to a specific embodiment of the first aspect of the present application, the step (d) includes: identifying a slot position image in the first image according to the preset slot position image; and determining the slot position image closest to the center position of the first image as the second image.
According to a specific embodiment of the first aspect of the present application, the step (e) includes: obtaining a slot position offset according to the position difference between the central point of the first image and the central point of the second image; and obtaining the coordinate of the actual central point of the slot position to be detected according to the slot position offset and the coordinate of the preset central point.
According to a specific embodiment of the first aspect of the present application, the step (b) includes: and obtaining the coordinate of the preset central point of the slot position to be detected according to the preset relative distance between the central point of the slot position to be detected and the calibration point and the coordinate of the calibration point.
According to a specific embodiment of the first aspect of the present application, the tray includes a plurality of slots to be tested, and the method further includes: and (e) sequentially executing the steps (b) to (e) for each slot position to be detected until the coordinates of the actual central points of all the slot positions to be detected are obtained.
According to a specific embodiment of the first aspect of the present application, the method further comprises: and setting a motion path of the manipulator according to the coordinates of the actual central point of the slot position to be measured.
A second aspect of the present application provides a slot position coordinate acquiring apparatus, the apparatus including: the slot position coordinate acquisition method comprises a processor and a memory, wherein the memory is used for storing a plurality of program instructions, and the slot position coordinate acquisition method is realized when the processor calls the program instructions.
A third aspect of the present application provides a computer-readable storage medium storing a plurality of program instructions adapted to be loaded by a processor and to execute the slot coordinate acquisition method as described above.
Compared with the prior art, the application has at least the following beneficial effects:
the coordinates of the actual central point of the slot to be measured are obtained according to a second image obtained from the first image.
Drawings
Fig. 1 is a schematic structural diagram of a tray.
Fig. 2 is a schematic flow chart of a slot position coordinate obtaining method according to an embodiment of the present application.
Fig. 3 is a sub-flowchart of step S11 in fig. 2.
Fig. 4 is a sub-flowchart of step S13 in fig. 2.
Fig. 5 is a sub-flowchart of step S14 in fig. 2.
Fig. 6 is a sub-flowchart of step S15 in fig. 2.
Fig. 7 is a block diagram of a slot coordinate acquiring apparatus 100 according to an embodiment of the present disclosure.
The following detailed description will further illustrate the present application in conjunction with the above-described figures.
Description of the main elements
Slot position coordinate obtaining apparatus 100
Detailed Description
In order that the above objects, features and advantages of the present application can be more clearly understood, a detailed description of the present application will be given below with reference to the accompanying drawings and detailed description. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict. In the following description, numerous specific details are set forth to provide a thorough understanding of the present application, and the described embodiments are merely a subset of the embodiments of the present application, rather than all embodiments.
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 herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes all and any combination of one or more of the associated listed items.
In various embodiments of the present application, for convenience in description and not limitation, the term "coupled" as used in the specification and claims of the present application is not limited to physical or mechanical connections, either direct or indirect. "upper", "lower", "above", "below", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
Referring to fig. 1, fig. 1 shows a schematic structural diagram of a tray 10. Currently, when a manipulator (not shown) takes or places a test piece (not shown), for example, a solid state disk, the manipulator needs to move according to a central point of the slot 20 on the tray 10, so as to accurately take the test piece out of the slot 20 or place the test piece into the slot 20. However, the tray 10 may have errors in the size of the slot 20 during manufacturing, or the edge of the slot 20, the edge of the tray 10 may be worn away during use of the tray 10, resulting in a shift in the center point of the slot 20. In this way, if the manipulator still moves according to the path preset under the parameters of the standard tray 10, the manipulator cannot move to the slot 20 precisely to pick and place the test piece.
Therefore, the present application provides a slot coordinate acquiring method, which can acquire the coordinate of the actual central point of the slot 20 through image recognition and corresponding calculation, and further acquire the relative position relationship between the tray 10 (for example, the calibration point 30 on the tray 10) and the actual central point of the slot 20 on the tray 10. Therefore, the manipulator moving path can be set according to the relative position relationship, and the test piece can be accurately taken and placed.
Referring to fig. 2, an embodiment of the present invention provides a method for obtaining coordinates of an actual central point of a slot 20 on a tray 10, the method including the following steps:
step S11, coordinates of the calibration point 30 of the tray 10 are acquired.
Please refer to fig. 3, which is a sub-flowchart of step S11.
In step S111, the robot provided with the camera is moved to above the calibration point 30.
In one possible implementation, the robot is automatically moved 20cm above the index point 30 so that the index point 30 appears within the camera's view frame.
It can be understood that the camera is vertically arranged on the plane of the tray 10 to shoot, and the height of the manipulator from the tray 10 depends on the focusing distance of the camera.
In step S112, the camera recognizes the calibration point 30 and adjusts the position of the manipulator so that the calibration point 30 is located at the middle position of the finder frame of the camera.
In one possible implementation, the image captured in the camera's view frame is matched with the image of the predetermined calibration point 30 to determine the specific location of the calibration point 30. The robot then moves accordingly in accordance with the position of the index point 30 so that the index point 30 finally appears at a position just in the middle within the camera's view frame.
In step S113, the coordinates of the current position of the manipulator are used as the coordinates of the calibration point 30.
In one possible implementation, a two-dimensional coordinate system is established based on the tray 10, and the index point 30 is used as the origin of coordinates of the coordinate system. Specifically, a coordinate system is established with the length direction of the tray 10 as the X axis and the width direction of the tray 10 as the Y axis, and the unit is centimeter, and the coordinate of the calibration point 30 is (0,0).
In one possible implementation, the position of the index point 30 is used as an initial position for movement of the robot during transport of the test piece after obtaining coordinates of the actual center point of the slot 20.
And S12, obtaining the coordinate of the preset central point of the slot position to be measured according to the setting parameters of the material tray 10 and the coordinate of the calibration point.
In one possible implementation, the setting parameters of the tray 10 include a preset relative distance between the center point of each slot 20 and the index point 30 on the tray 10.
Specifically, the coordinates of the index point 30 are (0,0). And the coordinates of the preset central point of the slot position to be detected are (x, y). The values of x and y are determined by the preset relative distance between the center point of the slot to be measured and the index point 30. For example, if the preset relative distance between the center point of the slot to be measured and the calibration point 30 on the X axis is 10cm, and the preset relative distance between the center point of the slot to be measured and the calibration point 30 on the Y axis is 5cm, the coordinate of the preset center point of the slot to be measured is (10,5).
In a possible implementation manner, the tray 10 is provided with a plurality of slots 20, that is, a plurality of slots to be measured. And determining the coordinates of the actual central points of the slots to be measured in sequence.
It is to be understood that the order of obtaining the coordinates of the actual center point of the slot to be measured is not limited herein. For example, referring to fig. 1, the coordinates of the actual center point of each slot to be measured may be obtained sequentially from the slot 20 closest to the calibration point 30 from bottom to top (i.e., to the + Y-axis direction) and from left to right (i.e., to the + X-axis direction).
And step 13, acquiring a first image according to the coordinates of the preset central point.
Please refer to fig. 4, which is a sub-flowchart of step S13.
And S131, moving the mechanical arm provided with the camera to the position above the slot to be measured according to the coordinates of the preset central point.
It can be understood that the manipulator can roughly move to the corresponding slot position 20, namely above the slot position to be measured, according to the coordinates of the preset central point, so as to acquire images by using the camera.
Step S132, a first image is acquired.
It will be appreciated that the first image is an image taken directly by the camera at that location.
And S14, matching the first image with a preset slot position image to obtain a second image.
Please refer to fig. 5, which shows a sub-flowchart of step S14.
Step S141, identifying a slot image in the first image according to a preset slot image.
In one possible implementation, images of a plurality of slots 20 may appear in the first image.
It will be appreciated that the number of slot images in the first image depends on the height of the camera from the tray 10 and the position of the robot movement. For example, in the case where the camera is 20cm from the tray 10, when the robot moves to the middle of the tray 10, an image of 9 slots 20 appears in the first image. While 6 or even fewer slot images may appear in the first image when the manipulator moves to the edge of the tray 10, 4 slot images may appear in the first image captured by the camera when the manipulator moves over the slot 20 closest to the index point 30.
In step S142, the slot image closest to the center position of the first image is determined as the second image.
It can be understood that, since the slot position 20 may generate a small displacement value, after moving according to the coordinates of the preset central point, the image acquired by the camera, that is, the slot position to be detected in the first image should be approximately in the middle of the image. Therefore, even though a plurality of slot images may appear in the first image, the slot image located at the intermediate position can be determined as the image corresponding to the slot to be measured, i.e., the second image.
And S15, obtaining the coordinate of the actual central point of the slot position to be measured according to the first image, the second image and the coordinate of the preset central point.
Please refer to fig. 6, which is a sub-flowchart of step S15.
Step S151, obtaining a slot offset according to a position difference between a center point of the first image and a center point of the second image.
The manner of calculating the position difference between the center point of the first image and the center of the second image is not limited herein. In one possible implementation, the length of the slot 20 is calculated on an equal scale as a reference to obtain the position difference.
In one possible implementation, the slot offset in the embodiments of the present application can be accurate to 1mm.
It will be appreciated that if the slot to be measured is not displaced during manufacture or use, the second image should be located at the exact middle of the first image, i.e. the center point of the second image is exactly coincident with the center point of the first image. The slot offset at this time is 0 in any direction. If the slot to be measured is displaced in the manufacturing or using process, the slot to be measured image should deviate from the middle position of the first image, that is, the central point of the second image and the central point of the first image are located at different positions. The slot offset amount is not 0 at least in a certain direction.
And S152, obtaining an actual central point coordinate according to the slot position offset and the preset central point coordinate.
Specifically, in the coordinate system established in step S13, the slot offset is (Δ x, Δ y), the coordinate of the preset central point is (x, y), and the coordinate of the actual central point of the slot to be measured is (x + Δ x, y + Δ y).
It can be understood that, through the obtained coordinates of the actual central point, in the subsequent moving process of the manipulator, the manipulator can move to the position above the corresponding slot position 20 on the tray 10 according to the coordinates of the actual central point, so as to accurately take and place the test piece. Thus, the influence of the displacement of the slot position 20 can be eliminated.
Step S16, determining whether all the slots 20 have been traversed. If so, the process is ended. And if not, skipping to execute the step S12 to repeatedly execute the steps S12 to S15, and further acquiring the coordinate of the actual central point of the other slot to be detected.
It can be understood that, since the tray 10 is provided with a plurality of slots 20, each slot 20 needs to determine whether a displacement occurs and determine the coordinate of the actual central point. If the coordinate of the actual central point of a certain slot to be measured is already determined, the coordinate of the actual central point of the next slot to be measured needs to be determined. After multiple cycles, the coordinates of the actual central points of all the slots 20 on the tray 10 can be determined. Therefore, when the manipulator takes and places the test piece, the test piece can be accurately taken out of each slot position 20 or placed into each slot position 20.
It will be appreciated that in some embodiments, if only one slot 20 is provided in the tray 10, step S16 may be omitted.
In some embodiments, the tray 10 is disposed in a bin or a test bin, and before step S11, the tray 10 needs to be pushed out of the material layer or the storage bin, so that the manipulator moves above the tray 10, and then the camera can capture images of the tray 10 and the slot 20 on the tray 10.
In a possible implementation manner, after the coordinates of the actual central points of all the slot positions 20 on the tray 10 are obtained, the flitch identification chart is generated according to the coordinates of the actual central points of all the slot positions 20. And generating a motion path of the manipulator according to the flitch identification chart. The manipulator can orderly take and place the test piece according to the motion path.
Referring to fig. 7, an embodiment of the present disclosure further provides a slot coordinate obtaining apparatus 100, where the slot coordinate obtaining apparatus 100 includes a processor 110, a memory 120, and a computer program 121 stored in the memory 120 and capable of running on the processor 110. The processor 110 and the memory 120 may be connected by a bus and communicate with each other. The processor 110 implements the steps in the slot position coordinate acquisition method embodiment described above when executing the computer program 121, such as steps S11 to S16 shown in fig. 2, steps S111 to S113 shown in fig. 3, steps S131 to S132 shown in fig. 4, steps S141 to S142 shown in fig. 5, and steps S151 to S152 shown in fig. 6.
Those skilled in the art will appreciate that the schematic is merely an example of the slot coordinate acquisition apparatus 100 and does not constitute a limitation of the slot coordinate acquisition apparatus 100 and may include more or fewer components than shown, or combine certain components, or different components, e.g., the slot coordinate acquisition apparatus 100 may also include an input-output device, a network access device, a bus, etc.
The Processor 110 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. The processor 110 may be a microprocessor or any conventional processor or the like, and the processor 110 is a control center of the slot coordinate acquisition apparatus 100 and connects various parts of the entire slot coordinate acquisition apparatus 100 using various interfaces and lines.
The memory 120 may be used to store a computer program 121 and/or a module/unit, and the processor 110 implements various functions of the slot coordinate acquisition apparatus 100 by running or executing the computer program and/or the module/unit stored in the memory 120 and calling data stored in the memory 120. The memory 120 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, and the like) created according to the use of the slot coordinate acquisition apparatus 100, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
It is understood that the above-described embodiment of the slot coordinate acquisition apparatus 100 is merely illustrative, and for example, the division of the modules is only one logical function division, and there may be other division ways in actual implementation. In addition, each functional module in the embodiments of the present invention may be integrated into the same processing module, or each module may exist alone physically, or two or more modules may be integrated into the same module. The integrated module can be realized in a hardware mode, and can also be realized in a mode of hardware and a software functional module.
The embodiment of the application also provides a computer readable storage medium. The computer-readable storage medium has stored therein program instructions that, when run on a computing device, cause the computing device to execute the slot position coordinate acquisition method provided by the foregoing embodiments.
According to the method and the device, the calibration point 30 is established on the material tray 10, the coordinate of the preset central point is determined according to the calibration point 30 and the setting parameters of the material tray 10, the first image shot at the position is obtained, and the coordinate of the actual central point of the slot position to be measured is obtained according to the second image obtained from the first image. The relative positional relationship of the index point 30 on the tray 10 and the center point of the slot 20 on the tray 10 is thus obtained.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present application and are not used as limitations of the present application, and that suitable modifications and changes of the above embodiments are within the scope of the claims of the present application as long as they are within the spirit and scope of the present application.
Claims (10)
1. A slot position coordinate obtaining method is characterized by comprising the following steps:
(a) Acquiring coordinates of a calibration point of a material tray;
(b) Obtaining the coordinate of the preset central point of the slot position to be measured on the material disc according to the setting parameters of the material disc and the coordinate of the calibration point;
(c) Acquiring a first image according to the coordinates of the preset central point;
(d) Matching the first image with a preset slot position image to obtain a second image; and
(e) And obtaining the coordinate of the actual central point of the slot position to be detected according to the first image, the second image and the coordinate of the preset central point.
2. The slot coordinate acquisition method according to claim 1, wherein the step (a) includes:
moving the mechanical arm provided with the camera to the position above the calibration point;
identifying the calibration point through the camera, and adjusting the position of the manipulator to enable the calibration point to be located in the middle of a viewing frame of the camera; and
and taking the coordinates of the current position of the manipulator as the coordinates of the calibration point.
3. The slot coordinate acquisition method of claim 1, wherein step (c) comprises:
moving a mechanical arm provided with a camera to the position above the slot position to be measured according to the coordinate of the preset central point; and
and acquiring the first image, wherein the first image is an image shot by the camera.
4. The slot coordinate acquisition method of claim 1, wherein step (d) comprises:
identifying a slot position image in the first image according to the preset slot position image; and
determining the slot image closest to the center position of the first image as the second image.
5. The slot coordinate acquisition method of claim 1, wherein step (e) comprises:
obtaining a slot position offset according to the position difference between the central point of the first image and the central point of the second image; and
and obtaining the coordinate of the actual central point of the slot to be detected according to the slot offset and the coordinate of the preset central point.
6. The slot coordinate acquisition method according to claim 1, wherein the step (b) includes:
and obtaining the coordinate of the preset central point of the slot position to be detected according to the preset relative distance between the central point of the slot position to be detected and the calibration point and the coordinate of the calibration point.
7. The slot coordinate acquisition method of claim 1, wherein the tray includes a plurality of the slots to be tested, the method further comprising: and (e) sequentially executing the steps (b) to (e) for each slot position to be detected until the coordinates of the actual central points of all the slot positions to be detected are obtained.
8. The slot coordinate acquisition method of claim 7, further comprising: and setting a motion path of the manipulator according to the coordinates of the actual central point of the slot position to be measured.
9. A slot position coordinate acquisition apparatus, characterized by comprising: a processor and a memory, the memory for storing a plurality of program instructions, the processor implementing the slot coordinate acquisition method of any of claims 1-8 when calling the program instructions.
10. A computer-readable storage medium storing a plurality of program instructions adapted to be loaded by a processor and to execute the slot coordinate acquisition method according to any one of claims 1 to 8.
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