CN209090033U - Food printer printing object location automatic identification equipment - Google Patents
Food printer printing object location automatic identification equipment Download PDFInfo
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- CN209090033U CN209090033U CN201821510786.1U CN201821510786U CN209090033U CN 209090033 U CN209090033 U CN 209090033U CN 201821510786 U CN201821510786 U CN 201821510786U CN 209090033 U CN209090033 U CN 209090033U
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Abstract
The utility model discloses a kind of food printer printing object location automatic identification equipment, automatic identification equipments, including controller, motor, top camera, articles holding table and the position sensor being arranged in food printer body.By the automatic identification equipment that printing object location is arranged, stock need to be only arbitrarily placed on articles holding table when printing, motor driven articles holding table drives stock to move up, stock upper surface print zone is set to go out the vertical range H to top camera, the location information of the top camera acquisition multiple points in stock upper surface print zone, and the position of stock and the shape of stock upper surface print zone are determined by controller, then the position of food printer port of printer is adjusted accordingly, it is printed, the pictorial pattern printed is set to appear in desired locations, ensure that print position is accurate, it is not limited by cup-shape, and it is easy to operate.
Description
Technical field
The utility model is specifically related to a kind of food printer stock position identification device.
Background technique
Current food printer, the formed central of printing be all it is determining, that is, need stock being placed into printer
On defined peculiar position, primary good printing can be just completed.It is always inevitably present error due to manually placing, often
Pictorial pattern is often resulted in not appear on desired position originally.Such as in coffee drawloom, operator's expectation is drawn by coffee
The center for the garland pattern that flower mechanism is made, can be aligned with the center of coffee cup, but in fact, lack accurately due to manually placing
Reference, the garland pattern often printed deviates from the center of coffee cup, and the content printed surmounts other than coffee cup.
There are two types of later improvement projects, the first is that a groove is directly dug out on the supporting plate of stock, with induction
The advantages of user places it in groove center when placing stock, which is that the error for placing stock reduces
It has arrived in the range of groove, but disadvantage is still without eradicating above-mentioned center offset problem.Another scheme is directly in printing
A hole is plucked out on the supporting plate of object as bracket, such cup can be sunk to wherein, although can solve asking for complete centring
Topic, but the program is serious to limit stock container, can only such as could be used without the coffee cup of handle.
In addition, current food printer, only supports the cupuliform of less several bores, or use manual setting printed drawings
The scaling of case is allowed to just match with surface of the stock bore, this types of procedures is cumbersome, increases manual operation difficulty,
Increase cost of labor, and bad setting can even make printing fail, and waste raw material.
Summary of the invention
The utility model provides a kind of food printer printing object location automatic identification equipment, in order to solve the prior art
In in food print procedure, stock place lack accuracy, cause the pictorial pattern printed not appear in the script phase
The technical issues of hoping position.
In order to solve the above-mentioned technical problem, the utility model is adopting the following technical scheme that:
Food printer printing object location automatic identification equipment, including be arranged in food printer body controller,
Motor, top camera, articles holding table and position sensor；
For driving articles holding table to carry out ascending, descending, articles holding table upper surface is provided with for assisting establishing camera the motor
The label reference pattern of functional relation between visual field coordinate and actual coordinate marks label on reference pattern to have datum mark；
The top camera is located above articles holding table, and articles holding table can be completely covered in the visual field；Position sensor is used for
Measure the vertical range of articles holding table upper surface or stock upper surface from camera；
It is electrically connected between the motor, top camera and position sensor and controller.
Stock is placed on articles holding table, motor driven articles holding table drives stock to move up, and makes table on stock
Face print zone is out H to the vertical range of top camera, and top camera acquires the multiple points in stock upper surface print zone
Location information, and the position of stock and the shape of stock upper surface print zone are determined by controller, then adjust accordingly
The position of food printer port of printer, is printed, and the pictorial pattern printed is made to appear in desired locations, it is ensured that printing is accurate
Property.
It is further improved, the position sensor is camera, laser sensor, infrared ray range sensor, microwave biography
One of sensor or ultrasonic distance sensor.
It is further improved, the label reference pattern is the characteristic image that can be obviously observed by top camera, label
There are multiple datum marks on reference pattern, and coordinate value of multiple datum marks in actual coordinates is it is known that certainly convenient for calibration automatically
Dynamic identification device, adjusts print head.
It is further improved, is mounted with supplementary lighting sources in the food printer body, be top when ambient light deficiency
Camera provides light filling, it is ensured that can clearly identify stock for top camera.
The automatic calibrating method of food printer printing object location automatic identification equipment, includes the following steps:
Step 1, motor is started by controller, driving articles holding table moves up and down, and makes that reference pattern is marked to image to top
Vertical range between head is H；
Step 2, to mark the center of reference pattern as coordinate origin O, the level for being H in distance camera shooting figure vertical range
The rectangular coordinate system XOY established on face, is denoted as actual coordinates；Using camera as coordinate origin O ', the plane where camera
Rectangular coordinate system UO ' the V of upper foundation, is denoted as camera view coordinate system；
Step 3, mark reference pattern on coordinate value of each datum mark in actual coordinates it is known that being adopted by camera
No less than 3 datum marks on collection label reference pattern, and record coordinate value of the datum mark in camera view coordinate；Set base
On quasi- figure coordinate of any point in actual coordinates be (x, y), coordinate of this in camera view coordinate be (u,
v)；Coordinate value of the controller according to each datum mark in camera view coordinate and actual coordinates, is calculated function f
(x, y) makes f (x, y)=(u, v)；F (x, y) is label reference pattern at this time when away from top camera vertical range being H, label
Coordinate (u, v) of coordinate (x, y) and this of any point in actual coordinates in camera view coordinate on reference pattern
Mapping relations；
Step 4, after completing aforesaid operations, that is, calibration is completed, so that it may normal use food printer machined,
After using a period of time, after there is biggish printing error, step 1-3 can be repeated again and be calibrated automatically again.
It is further improved, f (x, y)=(u, v) is indicated using following formula,
Wherein, δx(x, y) and δy(x, y) is illustrated respectively in the amount of distortion in the direction x and y, is corrected using calibration model,
There are commonly multinomial models and MQ model；From food printer operational capability consider, indicated using multinomial model f (x,
Y)=(u, v):
Wherein, ajkAnd bjkIt is the coefficient of two element equations, m, j, k are natural number；The coefficient can be according to each benchmark
Known coordinate value of the point in actual coordinates and the coordinate value in camera view coordinate, are carried out by least square method
It solves；For m order polynomial, at least selection (m+1) (m+2)/2 datum mark.
It is further improved, the m=2, i.e., indicates f (x, y)=(u, v) using 2 order polynomials:
According to known coordinate value of six datum marks in actual coordinates and in camera machine vision pixel coordinate
The coordinate of system is solved by least square method, is obtained
a0、a1、a2、a3、a4、a5, b0、b1、b2、b3、b4、b5Value, that is, acquire f (x, y).
The automatic identifying method of food printer printing object location, includes the following steps:
Step 1: stock is placed on articles holding table, and is located at below the camera of top, starts electricity by controller
Machine, driving articles holding table move up and down, and make stock upper surface to the vertical range H between the camera of top, at this time stock
Upper surface is plane where rectangular coordinate system XOY, sets seat of the stock upper surface print zone any point in actual coordinates
It is designated as (x, y), coordinate of this in camera view coordinate is (u, v)；F (x, y) is stock upper surface far from top at this time
When camera vertical range is H, coordinate (x, y) and the point of the stock upper surface any point in actual coordinates are being imaged
The mapping relations of coordinate (u, v) in the coordinate of the head visual field；
Step 2: controller seeks (x, y)=f according to functional relation f (x, y)=(u, v) in automatic calibration process-1
(u, v), i.e. coordinate value of the current stock upper surface print zone any point in actual coordinates；
Step 3: multiple and different points of controller control top camera acquisition stock top surface edge obtain these
Coordinate value of the point in camera view coordinate system, and substitute into (x, y)=f-1(u, v) calculates corresponding difference in printing
Coordinate value in the actual coordinates of object upper surface, it follows that expression of the stock top surface edge curve in actual coordinates
The coordinate value of formula and stock upper surface central point in actual coordinates；
Step 4: will be in expression formula of the stock top surface edge curve in actual coordinates and stock upper surface
The coordinate value information that the heart selects in actual coordinates sends food printer to, and food printer obtains the position of current stock
With the concrete shape of print zone, then the position of food printer adjustment print head, is printed.
Compared with prior art, the utility model has the beneficial effects that
1, by the way that the automatic identification equipment of printing object location is arranged, stock need to be only arbitrarily placed at articles holding table by when printing
On, motor driven articles holding table drives stock to move up, and goes out stock upper surface print zone to the vertical of top camera
Distance is H, and top camera acquires the location information of the multiple points in stock upper surface print zone, and determines printing by controller
Then the position of object and the shape of stock upper surface print zone adjust the position of food printer port of printer accordingly, are beaten
Print, makes the pictorial pattern printed appear in desired locations, it is ensured that print position is accurate, is not limited by cup-shape, and grasps
Make simple.
2, by the automatic calibration to food printer printing object location automatic identification equipment, in food printer first
In use, because carrying, mechanical erection is crossed, camera displacement in top caused by components aging etc., cause printing larger mistake occur
After difference, calibrated automatically, it is easy to operate, guarantee print position accuracy.
Detailed description of the invention
Fig. 1 is solid when food printer stock position identification device described in the utility model does not place stock
Figure.
Fig. 2 is the front view of Fig. 1.
The top view of Fig. 3 Fig. 1.
Fig. 4 is top camera machine cyclogram.
Fig. 5 is the top camera machine cyclogram of six datum marks in automatic calibration process.
Fig. 6 is structure chart when food printer stock position identification device described in the utility model places stock.
Fig. 7 is the top view of Fig. 6.
Specific embodiment
To keep the purpose of this utility model and technical solution clearer, below in conjunction with embodiment to the utility model
Technical solution is clearly and completely described.
Embodiment one:
As shown in Figure 1, food printer printing object location automatic identification equipment, including be arranged in food printer body 7
On controller (not shown), motor (not shown), top camera 1, first position sensor 21 and second
Sensor 22 is set, and the label reference pattern 3 being arranged on articles holding table.
Camera shooting head support 4, position sensor support frame 5 and the support of glove saddle are mounted in food printer body 7
Frame 8.
Top camera 1 be mounted on camera shooting head support 4 on, the field of vision of camera vertically downward, any situation its
The visual field can cover articles holding table 6.
In the present embodiment, first position sensor 21 is laser emitter, and second position sensor 22 is laser pick-off
Device, the two are in same horizontal line 23, to guarantee that the laser beam 23 emitted by first position sensor 21 can be by second
It sets 22 laser pickoff of sensor to be received, which keeps solid with the bottom of top camera 1 in vertical direction
Fixed height difference H.In other embodiments, position sensor may be camera, infrared ray range sensor, microwave sensing
It is a kind of in device or ultrasonic distance sensor.
In the present embodiment, supplementary lighting sources are mounted in food printer body 7.
Stock is placed on articles holding table, motor driven articles holding table drives stock to move up, and makes table on stock
Face print zone is out H to the vertical range of top camera, and top camera acquires the multiple points in stock upper surface print zone
Location information, and the position of stock and the shape of stock upper surface print zone are determined by controller, then adjust accordingly
The position of food printer port of printer, is printed, and the pictorial pattern printed is made to appear in desired locations, it is ensured that printing is accurate
Property.
Embodiment two:
As shown in Fig. 2, needing after reverting to default setting using the automatic identification equipment or user for the first time to automatic
Identification device is calibrated automatically, and articles holding table 6, which increases, when calibration is swashed until just blocking by what first position sensor 21 was issued
Light, 6 top surface of articles holding table is on horizontal line 23 at this time, i.e., vertical range of 6 top surface of articles holding table far from 1 bottom of top camera be just
For H.Top view is as shown in figure 3, since label reference pattern 3 is in the top surface of glove saddle 6, and label benchmark at this time
3 thickness of figure can be ignored, then itself and the vertical range of 1 bottom of camera are also H.
The collected visual field of camera institute is as shown in figure 4, due to error, camera existing during mechanical erection at this time
The factors such as the deformation in the deviation and transportational process of therein sensor lead to the collected label reference pattern of camera institute
There are certain deviations for 3 label reference pattern center 31 and camera machine vision center 11, and reference pattern 3 is marked to take the photograph
As the machine vision in head marks reference pattern 32.
Automatic calibration includes the following steps:
Step 1, motor is started by controller, driving articles holding table moves up and down, and makes that reference pattern is marked to image to top
Vertical range between head is H；
Step 2, to mark the center of reference pattern as coordinate origin O, the level for being H in distance camera shooting figure vertical range
The rectangular coordinate system XOY established on face, is denoted as actual coordinates；Using camera as coordinate origin O ', the plane where camera
Rectangular coordinate system UO ' the V of upper foundation, is denoted as camera view coordinate system；
Step 3, mark reference pattern on coordinate value of each datum mark in actual coordinates it is known that being adopted by camera
No less than 3 datum marks on collection label reference pattern, and record coordinate value of the datum mark in camera view coordinate；Set base
On quasi- figure coordinate of any point in actual coordinates be (x, y), coordinate of this in camera view coordinate be (u,
v)；Coordinate value of the controller according to each datum mark in camera view coordinate and actual coordinates, is calculated function f
(x, y) makes f (x, y)=(u, v)；F (x, y) is label reference pattern at this time when away from top camera vertical range being H, label
Coordinate (u, v) of coordinate (x, y) and this of any point in actual coordinates in camera view coordinate on reference pattern
Mapping relations；
Step 4, after completing aforesaid operations, that is, calibration is completed, so that it may normal use food printer machined,
After using a period of time, moved due to above-mentioned, it, can be again after causing printing biggish printing error occur the problems such as aging
The secondary step 1-3 that repeats is calibrated automatically again.
In the present embodiment, f (x, y)=(u, v) is indicated using following formula,
Wherein, δx(x, y) and δy(x, y) is illustrated respectively in the amount of distortion in the direction x and y, is corrected using calibration model,
There are commonly multinomial models and MQ model；Consider from food printer operational capability, uses polynomial module in the present embodiment
Type indicates f (x, y)=(u, v):
Wherein, ajkAnd bjkIt is the coefficient of two element equations, m, j, k are natural number；The coefficient can be according to each benchmark
Known coordinate value of the point in actual coordinates and the coordinate value in camera view coordinate, are carried out by least square method
It solves；For m order polynomial, at least selection (m+1) (m+2)/2 datum mark.
In the present embodiment, the m=2 indicates f (x, y)=(u, v) using 2 order polynomials:
As shown in figure 5, six datum marks of P1, P2, P3, P4, P5 and P6 are taken, according to six datum marks in actual coordinates
Known coordinate value and solved in the coordinate of camera machine vision pixel coordinate system by least square method, obtain
a0、a1、a2、a3、a4、a5, b0、b1、b2、b3、b4、b5Value, that is, acquire f (x, y).
Embodiment three:
When normal use food printer, as shown in fig. 6, the cup 9 that one glass fills stock is arbitrarily placed at glove
On saddle 6, articles holding table 6 rises before the printing, finally ensures that stock upper surface is vertical with the holding of the bottom of top camera 1
Distance H.From 7 observable of top view, the stock cup 9 arbitrarily placed has very in real space coordinate and 6 center of articles holding table
Apparent deviation.Stock upper surface arbitrary point can be (u, v) by System describe under the machine vision of top camera 1 at this time,
In conjunction with the coordinate transform formula obtained under automatic calibration process, can be calculated stock upper surface arbitrary point be (x, y)=
f-1(u, v) so far can be easy that the actual coordinate of its central point 33 in real space of stock cup 9, Yi Jicheng is calculated
Print the printing area radius R of object cup 9.Based on the parameter, pattern accurately can be worked into any placement by food printer
The surface of stock cup 9 had both guaranteed that machining center was aligned with stock center, and had also ensured optimal scaling.
Automatic identifying method includes the following steps:
Step 1: stock is placed on articles holding table, and is located at below the camera of top, starts electricity by controller
Machine, driving articles holding table move up and down, and make stock upper surface to the vertical range H between the camera of top, at this time stock
Upper surface is plane where rectangular coordinate system XOY, sets seat of the stock upper surface print zone any point in actual coordinates
It is designated as (x, y), coordinate of this in camera view coordinate is (u, v)；F (x, y) is stock upper surface far from top at this time
When camera vertical range is H, coordinate (x, y) and the point of the stock upper surface any point in actual coordinates are being imaged
The mapping relations of coordinate (u, v) in the coordinate of the head visual field；
Step 2: controller seeks (x, y)=f according to functional relation f (x, y)=(u, v) in automatic calibration process-1
(u, v), i.e. coordinate value of the current stock upper surface print zone any point in actual coordinates；
Step 3: multiple and different points of controller control top camera acquisition stock top surface edge obtain these
Coordinate value of the point in camera view coordinate system, and substitute into (x, y)=f-1(u, v) calculates corresponding difference in printing
Coordinate value in the actual coordinates of object upper surface, it follows that expression of the stock top surface edge curve in actual coordinates
The coordinate value of formula and stock upper surface central point in actual coordinates；
Step 4: will be in expression formula of the stock top surface edge curve in actual coordinates and stock upper surface
The coordinate value information that the heart selects in actual coordinates sends food printer to, and food printer obtains the position of current stock
With the concrete shape of print zone, then the position of food printer adjustment print head, is printed.
Do not done in the utility model illustrate be the prior art or can be realized by the prior art, Er Qieben
Specific implementation case described in utility model is only the preferable case study on implementation of the utility model, is not used to limit practical
Novel practical range.Equivalent changes and modifications made by i.e. all contents according to present utility model application the scope of the patents, should all make
For the technology scope of the utility model.
Claims (4)
1. food printer printing object location automatic identification equipment, which is characterized in that including being arranged in food printer body
Controller, motor, top camera, articles holding table and position sensor；
For driving articles holding table to carry out ascending, descending, articles holding table upper surface is provided with for assisting establishing camera view the motor
The label reference pattern of functional relation between coordinate and actual coordinate marks label on reference pattern to have datum mark；
The top camera is located above articles holding table, and articles holding table can be completely covered in the visual field；Position sensor is for measuring
The vertical range of articles holding table upper surface or stock upper surface to camera；
It is electrically connected between the motor, top camera and position sensor and controller.
2. food printer printing object location automatic identification equipment according to claim 1, which is characterized in that the position
Sensor is one in camera, laser sensor, infrared ray range sensor, ultrasonic distance sensor or microwave remote sensor
Kind.
3. food printer printing object location automatic identification equipment according to claim 1 or 2, which is characterized in that described
Marking reference pattern is the characteristic image that can be obviously observed by top camera.
4. food printer printing object location automatic identification equipment according to claim 3, which is characterized in that the food
It is mounted with supplementary lighting sources in printer body, when ambient light deficiency, provides light filling for top camera.
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| CN201821510786.1U CN209090033U (en) | 2018-09-16 | 2018-09-16 | Food printer printing object location automatic identification equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109077339A (en) * | 2018-09-16 | 2018-12-25 | 深圳亿瓦创新科技有限公司 | Food printer stock position identification device and calibration method and recognition methods |
| CN110816056A (en) * | 2019-12-02 | 2020-02-21 | 北京信息科技大学 | Ink-jet printing system based on stepping motor and printing method thereof |
| CN112697219A (en) * | 2021-01-29 | 2021-04-23 | 惠州拓邦电气技术有限公司 | Cup capacity detection method and device for beverage equipment, beverage equipment and medium |
-
2018
- 2018-09-16 CN CN201821510786.1U patent/CN209090033U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109077339A (en) * | 2018-09-16 | 2018-12-25 | 深圳亿瓦创新科技有限公司 | Food printer stock position identification device and calibration method and recognition methods |
| CN109077339B (en) * | 2018-09-16 | 2024-07-09 | 深圳亿瓦创新科技有限公司 | Device and method for identifying position of printing stock of food printer and method for calibrating same |
| CN110816056A (en) * | 2019-12-02 | 2020-02-21 | 北京信息科技大学 | Ink-jet printing system based on stepping motor and printing method thereof |
| CN112697219A (en) * | 2021-01-29 | 2021-04-23 | 惠州拓邦电气技术有限公司 | Cup capacity detection method and device for beverage equipment, beverage equipment and medium |
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