CN216286298U - Device for acquiring relative position between devices and automatic feeding system of Tray core sheet material - Google Patents
Device for acquiring relative position between devices and automatic feeding system of Tray core sheet material Download PDFInfo
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- CN216286298U CN216286298U CN202121606762.8U CN202121606762U CN216286298U CN 216286298 U CN216286298 U CN 216286298U CN 202121606762 U CN202121606762 U CN 202121606762U CN 216286298 U CN216286298 U CN 216286298U
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32202—Integration and cooperation between processes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The utility model provides a device for acquiring the relative position between devices and an automatic feeding system of Tray core sheet materials. The device for acquiring the relative position between the devices comprises: an infrared light source capable of emitting infrared light and fixedly installed on the first device; the workbench is arranged on the second equipment through the position adjusting mechanism; the camera can identify infrared light, is fixedly arranged on the workbench, and can acquire a position image of the infrared light source, and the infrared light source is a light source mark point correspondingly in the position image; the image processing unit is connected with the camera and can receive the position image and acquire imaging data of the infrared light source in the position image; and generating a control instruction to the position adjusting mechanism according to the imaging data so that the position adjusting mechanism can adjust the relative position of the workbench and the first device according to the control instruction. The utility model can quickly and accurately establish the mutual position relation between the machine stations, realize the cooperative operation and the accurate matching of the machine stations and improve the identification capability and the reliability of the mark positioning point.
Description
Technical Field
The utility model relates to the field of industrial automation control, in particular to a device for acquiring relative positions of devices and an automatic feeding system.
Background
With the continuous deepening of industrial automation application, the application scenes of mutual cooperation and cooperative operation among machines are more and more, and the relative position coordinate relationship among the machines needs to be established.
At present, a method based on visual positioning generally adopts passive marking points, such as two-dimensional code identification. However, in a complex application environment of a factory, the passive marking points are easily affected by light intensity, use abrasion, oil stain adhesion, dust shielding and the like in the environment, so that image recognition is difficult. Visible light LED light sources are also adopted as active marking points, but are easily influenced by ambient light, and have defects in positioning and identifying stability.
Because the cooperative operation between the machines is usually based on the established relative position relationship, the accuracy and the stability of the positioning of the marking points can directly influence the action execution of the machines, and the abnormal positioning can cause the equipment to be incapable of working or even damaged. Therefore, a positioning method capable of quickly and accurately establishing the relative position relationship between the machines is needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a device for acquiring relative positions between equipment and an automatic feeding system, which can overcome one or more defects in the prior art and quickly and accurately establish the relative position relationship between machines.
In order to achieve the above object, according to an embodiment of the present invention, there is provided an apparatus for acquiring a relative position between devices, including: an infrared light source capable of emitting infrared light, the infrared light source being fixedly mounted on a first device; the workbench is arranged on the second equipment through the position adjusting mechanism; the camera can recognize the infrared light and is fixedly arranged on the workbench, and can acquire a position image of the infrared light source, wherein the infrared light source is correspondingly a light source mark point in the position image; the image processing unit is connected with the camera and can receive the position image and acquire imaging data of the infrared light source in the position image; and generating a control instruction to the position adjusting mechanism according to the imaging data so that the position adjusting mechanism can adjust the relative position of the workbench and the first device according to the control instruction.
In an embodiment of the present invention, the position adjustment mechanism includes: the first electric guide rail is arranged along the X-axis direction, and the workbench is movably arranged on the first electric guide rail; and the second electric guide rail is arranged along the Z-axis direction, and the workbench is movably arranged on the second electric guide rail.
In an embodiment of the present invention, the position adjustment mechanism further includes: and the third electric guide rail is arranged along the Y-axis direction, and the workbench is movably arranged on the third electric guide rail.
In an embodiment of the present invention, the position adjustment mechanism further includes: the position sensor is arranged at the front end of the workbench and connected with the image processing unit, and can be in contact with the first equipment and generate first position data; wherein the image processing unit is capable of generating the control instruction to the position adjustment mechanism according to the first position data so that the position adjustment mechanism is capable of adjusting the relative position of the table with respect to the first device in the Y-axis direction according to the control instruction.
In an embodiment of the present invention, the position adjustment mechanism includes: the workbench is rotatably arranged on the rotating mechanism, and the rotating mechanism can adjust the rotating angle of the workbench in the rotating direction.
In an embodiment of the present invention, the position adjustment mechanism further includes: and the inclination adjusting mechanism is connected with the workbench and can adjust the inclination of the workbench in the X-axis direction.
In one embodiment of the present invention, the infrared light source comprises one or more infrared LED light sources.
In an embodiment of the utility model, a plurality of the infrared LED light sources are arranged in a straight line in the X-axis direction or in the Z-axis direction.
In an embodiment of the present invention, the image processing unit is a computer or an embedded processing platform with image processing software, and is connected to the camera through a data transmission interface or is connected to the camera through an external image acquisition card.
In an embodiment of the present invention, the imaging data includes first position relation data of a light source mark point of the infrared light source in the position image relative to a pixel center point of the camera; the image processing unit is further configured to obtain second positional relationship data of an arbitrary point of the first device with respect to the light source marker point, and third positional relationship data of a center position point of the center point of the workbench corresponding to the XZ plane and a pixel center point of the camera; and the control instruction is generated according to the first position relation data, the second position relation data and the third position relation data to control the position adjusting mechanism to adjust the position of the workbench in the X-axis direction and the Z-axis direction, so that the central position point is positioned to a target position corresponding to any target point of the first device on the XZ plane.
In an embodiment of the present invention, the image processing unit is further configured to generate a first control instruction according to the first position relation data to control the position adjustment mechanism to adjust the positions of the worktable in the X-axis direction and the Z-axis direction, so that the light source mark point coincides with the pixel center point; and generating a second control instruction according to the second position relation data and the third position relation data to control the position adjusting mechanism to adjust the positions of the workbench in the X-axis direction and the Z-axis direction, so that the central position point is positioned to a target position corresponding to any target point of the first device on the XZ plane.
In order to achieve the above object, the present invention further provides an automatic feeding system of Tray core sheet, comprising: a first device; a second device disposed opposite to the first device; the device for acquiring the relative position between the devices is characterized in that the infrared light source in the device is fixedly arranged on the first device, the workbench in the device is arranged on the second device through the position adjusting mechanism, and the camera is fixedly arranged on the workbench.
In another embodiment of the present invention, the first device is a feeding table, and the second device is a feeding table.
The utility model provides a method for acquiring relative positions among devices based on visual positioning of an infrared LED light source. By utilizing the wavelength characteristic of the infrared light source, the interference of a visible background light source in an industrial environment is reduced, and the identification capability and reliability of the mark positioning point are improved.
According to the utility model, the corresponding position of the specific position on the target equipment on the XZ plane can be quickly positioned by identifying the corresponding mark point of the LED light source with the infrared wavelength in a position image. The present invention can also judge the relative position of the target apparatus in the Y-axis direction (i.e., the vertical direction) by the feedback value of the pressure sensor disposed in the Y-axis direction (i.e., the vertical direction). The three-dimensional coordinate positioning of the specific position of the target equipment is quickly and conveniently realized through a mode of combining a two-dimensional plane image of the camera in an XZ plane and the sensing of the pressure sensor in the Y-axis direction (namely the vertical direction).
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
FIG. 1 is a schematic structural diagram of an automatic feeding system for Tray core sheet material and a device thereon for acquiring relative positions of devices according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a workbench with a motorized guide rail according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a position relationship between a stage with a motorized guide rail and a camera on an XZ plane according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for obtaining a relative position between devices by using the apparatus shown in FIG. 1 according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for obtaining a relative position between devices according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.
When introducing elements/components/etc. described and/or illustrated herein, the articles "a," "an," "the," "said," and "at least one" are intended to mean that there are one or more of the elements/components/etc. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc. Relative terms, such as "upper" or "lower," may be used in embodiments to describe one component of an icon relative to another component. It will be appreciated that if the device of the icon is turned upside down, components described as being on the "upper" side will be components on the "lower" side. Furthermore, the terms "first," "second," and the like in the claims are used merely as labels, and are not numerical limitations of their objects.
As shown in FIG. 1, the structure of an automatic feeding system 100 for Tray core sheets provided by the present invention is shown, and the device 30 for obtaining the relative position between the equipments according to the present invention can be provided therein. The Tray core sheet automatic feeding system 100 can comprise a first device 10, a second device 20 and the device 30 for acquiring the relative position between the devices. The second device 20 is arranged opposite to the first device 10. In one embodiment of the present invention, the first apparatus 10 may be a feeder tool, such as an NXT LT feeder; the second apparatus 20 may be a feeder table, for example, an automatic loading and unloading apparatus.
The device 30 for acquiring the relative position between the devices mainly comprises an infrared light source 31, a workbench 32, a camera 33 and an image processing unit 34. Wherein the infrared light source 31 is capable of emitting infrared light and is fixedly mounted on the first device 10. The table 32 may be mounted to the second apparatus 20 by a position adjustment mechanism 40. The camera 33 can recognize the infrared light, is fixedly disposed on the worktable 32, and can acquire a position image of the infrared light source 31, wherein the infrared light source 31 corresponds to a light source mark point in the position image. The image processing unit 34 is connected to the camera 33, and is capable of receiving the position image and acquiring imaging data of the infrared light source 31 in the position image; and generating a control instruction to the position adjusting mechanism 40 according to the imaging data, so that the position adjusting mechanism 40 can adjust the relative position of the workbench 32 and the first device 10 according to the control instruction.
In some embodiments of the present invention, the infrared light source 31 may comprise one or more infrared LED light sources. Wherein, a plurality of the infrared light sources 31 may be arranged in a straight line in the X-axis direction or in the Z-axis direction. In a preferred embodiment shown in fig. 1, the infrared light source 31 comprises, for example, three infrared LED light sources, which are fixed at a suitable position of the first device 10 (i.e., the target stage), for example, below the entrance of the storage cell 11 on the first device 10, and are arranged in a straight line along the X-axis direction. In the present invention, since the structural position relationship of the first device 10 itself is known, the spatial coordinate relationship of any position on the first device 10 relative to the infrared LED light source 31 is known and can be obtained by the image processing unit 34. Of course, it is understood that in other embodiments, a plurality of infrared light sources 31 may be arranged along the Z-axis direction, which should not be construed as a limitation to the present invention.
In some embodiments of the present invention, the camera 33 is fixed below the stage 32, for example, and the coordinate relationship of the center point of the stage 32 with respect to the pixel center point of the camera 33 at the center position point corresponding to the imaging plane (for example, XZ plane) of the camera 33 is kept unchanged, so that the spatial coordinate of each component of the stage 32 with respect to the pixel center point of the camera 33 is known. And, the imaging surface of the camera 33 is parallel to the surface of the first device 10 (i.e. the target machine) on which the infrared LED light source is installed. Preferably, the image processing unit 34 may be, for example, a computer with image processing software or an embedded processing platform, and is connected to the camera 33 through a data transmission interface or connected to the camera through an external image acquisition card, where the connection mode may be a wired or wireless data connection, such as USB, ethernet, wifi or a specific image interface bus. Of course, it is understood that in other embodiments, the image processing unit 34 may have other suitable hardware structures, and these should not be construed as limiting the present invention.
In an embodiment of the present invention, the image processing unit 34 may directly acquire imaging data of the infrared light source 31 on the first device 10 (i.e. the target station) in the position image of the camera 33, for example. The imaging data may include, for example, first position relationship data of a corresponding light source mark point of the infrared light source 31 in a position image with respect to a pixel center point of the camera 33. In addition, the image processing unit 34 can further acquire second positional relationship data of an arbitrary point of the first device 10 with respect to the light source marker point 31, and third positional relationship data of a center position point of the center point of the table 32 corresponding in the XZ plane and a pixel center point of the camera 33. The image processing unit 34 generates a control instruction to the position adjustment mechanism 40 based on the acquired first position relation data, second position relation data, and third position relation data, and the position adjustment mechanism 40 adjusts the position of the table 32 in the X-axis direction and the Z-axis direction based on the received control instruction.
Specifically, in some embodiments, the image processing unit 34 may first generate a first control instruction according to the first position relation data to control the position adjusting mechanism 40 to adjust the position of the worktable 32 in the X-axis and Z-axis directions so that the light source marking point coincides with the pixel center point, and then generate a second control instruction according to the second position relation data and the third position relation data to control the position adjusting mechanism 40 to adjust the positions of the worktable 32 in the X-axis and Z-axis directions so that the center position point is located to a target position corresponding to any target point of the first device 10 (i.e., a target worktable) on the XZ plane. Since the light source mark point is firstly overlapped with the pixel center point, the calculation of the coordinate relationship between the center position point and the target position is facilitated.
In other embodiments, the image processing unit 34 may generate a final control instruction directly according to the first positional relationship, the second positional relationship data and the third positional relationship data, so as to control the position adjusting mechanism 40 to adjust the position of the worktable 32 in the X-axis and Z-axis directions, so that the central position point is directly located to a target position corresponding to any target point of the first apparatus 10 (i.e., a target machine) on the XZ plane. According to the embodiment, the step of overlapping the light source mark point and the pixel center point is omitted, the coordinate relation between the center position point and the target position is directly calculated according to the acquired position relation data, and then the position adjusting mechanism is controlled to adjust the relative position of the workbench and the first device.
In other embodiments, the image processing unit 34 can further acquire second positional relationship data of an arbitrary point of the first device 10 with respect to the light source marker 31, and third positional relationship data of a center position point of the center point of the table 32 in the XZ plane and a pixel center point of the camera 33. The image processing unit 34 may generate a first control instruction according to the first position relation data to control the position adjusting mechanism 40 to adjust the positions of the table 32 in the X-axis direction and the Z-axis direction so that the light source mark point coincides with the pixel center point. The image processing unit 34 may further generate a second control instruction according to the second positional relationship data and the third positional relationship data to control the position adjusting mechanism 40 to adjust the positions of the worktable 32 in the X-axis direction and the Z-axis direction, so that the central position point is positioned to a target position corresponding to any target point of the first device 10 (i.e., a target machine) on the XZ plane.
As shown in fig. 2, in some embodiments of the present invention, the position adjustment mechanism 40 may include, for example, a first motorized track 41 and a second motorized track 42. The first motor-driven rail 41 may be arranged along the X-axis direction, for example, and the table 32 may be movably mounted on the first motor-driven rail 41, that is, the table 32 may be electrically controlled by the first motor-driven rail 41 to be movable along the X-axis direction. The second motor-driven rail 42 may be disposed, for example, along the Z-axis direction, and the table 32 may be movably mounted on the second motor-driven rail 42, that is, the table 32 may be electrically controlled by the second motor-driven rail 42 to be movable along the Z-axis direction.
In other embodiments of the present invention, the position adjustment mechanism 40 may further include a third motorized rail 43. The third motor-driven rail 43 may be disposed along the Y-axis direction, and the table 32 may be movably mounted on the third motor-driven rail 43, that is, the table 32 may be electrically controlled by the third motor-driven rail 43 to be movable along the Y-axis direction.
In some embodiments of the present invention, the position adjusting mechanism 40 may further include a rotating mechanism 44, the work table 32 is rotatably mounted on the rotating mechanism 44, for example, and the rotating mechanism 44 can adjust the rotation angle of the work table 32 in the rotation direction R, for example, the work table 32 can be rotated between the first position D1 and the second position D2. However, it is understood that the rotation angle of the rotation mechanism 44 is not limited to the angle between the first position D1 and the second position D2, and in other embodiments, a larger rotation angle range is also possible, which is not intended to limit the present invention.
In some embodiments of the present invention, the position adjusting mechanism 40 may further include an inclination adjusting mechanism 45, which may be connected to the table 32. The inclination adjustment mechanism 45 can adjust the inclination of the table 32 in the horizontal direction (for example, the X-axis direction).
In some embodiments of the present invention, the position adjustment mechanism 40 may further include a position sensor 46, which may be mounted at the front end F of the table 32 and connected to the image processing unit 34. Wherein the position sensor 46 is capable of contacting the first device 10 and generating first position data. The image processing unit 34 can generate a corresponding control instruction to the position adjusting mechanism 40 according to the first position data, so that the position adjusting mechanism 40 can adjust the relative position of the workbench 32 in the Y-axis direction and the first device 10 according to the control instruction.
In the present invention, the working platform 32 can cooperate with the first equipment 10 (i.e. the target machine) via the position adjusting mechanism 40 to perform corresponding actions, including but not limited to actions of docking, clamping or placing materials (e.g. Tray). Further, the table 32 may be fixed on the electric rail in one direction, and the electric rail in the one direction may be mounted on the electric rail in the other direction or directly mounted on a rail fixing mechanism, which is not intended to limit the present invention. In the present invention, the electric rails are not limited to the first electric rail (i.e., the lateral electric rail) 41 and the second electric rail (i.e., the longitudinal electric rail) 42, and may include the third electric rail (i.e., the vertical electric rail) 43, a rotation-direction angle control motor (i.e., the rotation mechanism 44), a horizontal-direction angle control motor (i.e., the inclination adjustment mechanism 45), and the like. The working table 32 can adjust its relative position with the first device 10 (i.e., the target machine) in the X-axis direction, the Y-axis direction, and/or the Z-axis direction through the electric guide control unit, and can control and adjust its angle with the first device 10 (i.e., the target machine) through the angle control motor in the rotation direction or the angle control motor in the horizontal direction, such as the rotation angle in the rotation direction R and the inclination angle in the horizontal direction.
In the embodiment shown in fig. 2, the table 32 is, for example, movably mounted on the third motorized track 43 and, together with the third motorized track 43, on a transfer table 321. The transfer table 321 is rotatably mounted on the rotating mechanism 44. The rotating mechanism 44 is movably mounted on the first motorized rail 41. The first motor rail 41 is movably mounted to the second motor rail 42.
It should be noted that, as shown in fig. 2, the working table 32 is at the first position D1 (i.e. at the first station), and the conveying direction T is the same as the X-axis direction in fig. 2, in this state, the working table 32 can reciprocate along the conveying direction T (i.e. the X-axis direction in fig. 2), so as to achieve the material fetching and placing to the buffer box (not shown) in the second apparatus 20. When the rotating mechanism 44 rotates the working platform 32 in the rotating direction R from the first position D1 to the second position D2 (i.e., at the second station), for example, the working platform 32 is rotated counterclockwise by a certain angle (e.g., 90 degrees), and the conveying direction T of the working platform 32 is changed accordingly, i.e., the conveying direction T ' shown by the dotted line in fig. 2 (in this case, the conveying direction T ' is the same direction as the Y-axis direction in fig. 2), in this state, the working platform 32 can move back and forth along the conveying direction T ' (i.e., the Y-axis direction in fig. 2) to achieve the material fetching and placing to the first device 10 (shown in fig. 1). In other words, in the embodiment shown in fig. 2, the table 32 can be moved not only in the Y-axis direction by the third motor-driven rail 43 but also in the X-axis direction by the table 32 by the third motor-driven rail 43 by the cooperative rotation of the rotating mechanism 44.
As shown in fig. 3, it shows the position relationship of the table with the motorized track and the camera on the XZ plane provided by the present invention, wherein the coordinate system (a) in fig. 3 shows the position relationship that the corresponding light source mark point P1 of the infrared light source 31 on the XZ plane is not overlapped with the pixel center point P0 of the camera 33, and the coordinate system (B) in fig. 3 shows the position relationship that the corresponding pixel center point P0 of the light source mark point P1 is overlapped. With combined reference to fig. 1-2, in fig. 3, the position coordinates of the center position point P2 corresponding to the center point of the table 32 on the XZ plane with respect to the pixel center point P0 of the camera 33 are (a, b). The image processing unit 34 may acquire imaging data of the infrared light source 31 on the first device 10 (i.e., the target stage) at the camera 22, and may thereby acquire coordinates (u, v) of a light source marking point P1 corresponding to the infrared light source 31 on the XZ plane with respect to the pixel center point P0. The image processing unit 34 may also send a control instruction to the motorized rail control unit to move the pixel center point P0 to a position coinciding with the light source marker point P1 corresponding to the infrared light source 31. At this time, the coordinates of the light source mark point P1 corresponding to the infrared light source 31 on the first device 10 (i.e., the target stage) on the XZ plane of the stage 32 are (a, b). If it is known that the three-dimensional coordinate of any position point on the target machine relative to the corresponding mark point of the infrared light source 31 is assumed to be (x, y, z), the coordinate of the target position corresponding point on the XZ plane relative to the center position point P2 corresponding to the center point of the worktable 32 is (x-a, z-b), and the electric guide rail can be controlled according to the position coordinate relationship to realize the coincidence of the center position point P2 corresponding to the center point of the worktable 32 and the target position corresponding point on the XZ plane, thereby realizing the rapid positioning of the relative position relationship between the machines on the XZ plane.
Further, a pressure sensor (i.e., a position sensor 46) may be attached to the front end of the table 32, for example, and the vertical distance between the table 32 and the first device 10 (i.e., a target device) may be adjusted by controlling the movement of the vertically motorized rail (i.e., the third motorized rail 43), and whether the table 32 reaches the contact point in the vertical direction (i.e., the Y-axis direction in fig. 1) may be determined from a feedback value of the pressure sensor.
As shown in fig. 4, which illustrates a flowchart of a method for obtaining a relative position between devices by using the apparatus provided in fig. 1 according to an embodiment of the present invention, and with reference to fig. 1 and fig. 3, the specific operation steps are as follows:
step S401: the infrared light source 31 is fixed at a proper position of the first device 10 (i.e., the target device), and the relative positional relationship of other positions of the first device 10 with respect to the light source mark point P1 corresponding to the infrared light source 31 is acquired.
Step S402: the second device 20 is moved to a position (i.e., an image pickup area) directly in front of the installation position of the infrared light source 31 on the first device 10 so that the camera 33 capable of recognizing the infrared wavelength can pick up the position image of the infrared light source 31. It is assumed that the imaging plane of the camera 33 is substantially parallel to the mounting plane of the infrared light source 31 and the X-axis direction of the camera imaging is substantially parallel to the X-axis direction of the first device.
Step S403: according to the position relation of a light source mark point P1 corresponding to the infrared light source 31 in the position image collected by the camera relative to a pixel center point P0, the positions of the workbench 32 on the X axis and the Z axis are adjusted, and the pixel center point P0 is overlapped with a light source mark point P1 corresponding to the infrared light source 31. For example, the coordinates of the light source marker point P1 corresponding to the infrared light source 31 in the position image captured by the camera 33 with respect to the pixel center point P0 are (u, v), the lateral motorized rail (i.e., the first motorized rail 41 along the X-axis direction) and the longitudinal motorized rail (i.e., the second motorized rail 42 along the Z-axis direction) are adjusted so that the pixel center point P0 coincides with the light source marker point P1 corresponding to the infrared light source 31, and the coordinates of the light source marker point P1 corresponding to the infrared light source 31 also become (0, 0) (as shown in the coordinate system (B) in fig. 3).
During the process of adjusting the coincidence of the pixel center point P0 and the light source mark point P1 corresponding to the infrared light source 31 through the electric guide rail, acceleration and deceleration control may be adopted, that is, the electric guide rail may be moved at a high speed at a high first speed during initial adjustment, and the coordinate difference between the pixel center point P0 and the light source mark point P1 corresponding to the infrared light source 31 is determined in real time through the image processing unit 34, and when the coordinate difference is smaller than a specific threshold value, the electric guide rail is moved at a low speed at a low second speed, so that the electric guide rail is moved to the light source mark point P1 corresponding to the infrared light source 31 efficiently and accurately.
Step S404: according to the relative position relationship between the central position point P2 corresponding to the central point of the workbench 33 on the XZ plane and the pixel central point P0 and the relative position relationship between the arbitrary position of the first device 10 and the light source mark point P1 corresponding to the infrared light source 31, the central position point corresponding to the workbench 32 on the XZ plane is quickly positioned to the designated position of the first device. Since the relative positional relationship of the other positions of the first device 10 with respect to the light source mark point P1 corresponding to the infrared light source 31 is known, the pixel center point P0 of the camera 33 coincides with the light source mark point P1 corresponding to the infrared light source 31, and the coordinate positional relationship of the center point of the table 32 with respect to the camera 33 is known, the table 32 can thus be moved to a corresponding specified position (i.e., target position) of any point of the first device 10 (i.e., target device) on the XZ plane.
Step S405: the relative position of the table 32 in the Y-axis direction from the first apparatus 10 is determined by a position sensor 46 mounted in the Y-axis direction. For example, the vertical distance between the second device 20 and the first device 10 (e.g., the vertical distance between the Y-axis directions in fig. 1) can be adjusted by the third motorized rail 43 in the vertical direction (i.e., the Y-axis direction in fig. 1).
In other embodiments, the process of adjusting the coincidence of the pixel center point P0 and the light source mark point P1 corresponding to the infrared light source 31 in step S403 may be omitted, and the positions of the worktable 32 in the X axis and the Z axis may be adjusted directly according to the positional relationship between the light source mark point P1 corresponding to the infrared light source 31 and the pixel center point P0 in the position image, the relative positional relationship between the corresponding center position point P2 and the pixel center point P0 of the center point of the worktable 33 on the XZ plane, and the relative positional relationship between the arbitrary position of the first device 10 and the light source mark point P1 corresponding to the infrared light source 31, so as to achieve the quick positioning of the corresponding center position point P2 of the worktable 32 on the XZ plane to the designated position (i.e., the target position) of the first device.
As shown in fig. 5, a method 500 for obtaining a relative position between devices according to the present invention may include:
in step S1, the infrared light source 31 is fixedly mounted on the first device 10.
Step S2, moving the second device 20 to an image capture area in front of the infrared light source 31, capturing a position image of the infrared light source by a camera 33 capable of recognizing infrared light emitted from the infrared light source 31, wherein the camera 33 is fixedly disposed on the worktable 32, and the worktable 32 is mounted on the second device 20 by the position adjusting mechanism 40.
In step S3, the position image is received by the image processing unit 34, imaging data of the infrared light source 31 in the position image is acquired, and a control instruction is generated to the position adjustment mechanism 40 according to the imaging data.
In step S4, the relative position of the table 32 and the first device 10 is adjusted by the position adjusting mechanism 40 according to the control instruction.
In some embodiments of the present invention, in the step S3, the imaging data may include, for example, first position relation data of a corresponding light source mark point of the infrared light source 31 in the position image with respect to a pixel center point of the camera. The step S3 may further include: and acquiring second position relation data of any point of the first equipment relative to the light source mark point and third position relation data of a central position point of the central point of the workbench corresponding to the XZ plane and a pixel central point of the camera through the image processing unit, generating a first control instruction according to the first position relation data, and generating a second control instruction according to the second position relation data and the third position relation data.
The step S4 may further include: adjusting the positions of the workbench in the X-axis direction and the Z-axis direction according to the first control instruction through the position adjusting mechanism, so that the light source mark point is superposed with the pixel center point; and adjusting the position of the workbench in the X-axis direction and the Z-axis direction according to the second control instruction through the position adjusting mechanism, so that the central position point is positioned to a target position corresponding to any target point of the first equipment on the XZ plane.
In other embodiments of the present invention, the step S3 further includes: acquiring second position relation data of any point of the first equipment relative to the light source mark point and third position relation data of a central position point of the central point of the workbench corresponding to the XZ plane and a pixel central point of the camera through the image processing unit, and generating a final control instruction according to the first position relation data, the second position relation data and the third position relation data;
the step S4 includes: and adjusting the position of the workbench in the X-axis direction and the Z-axis direction according to the control command through the position adjusting mechanism, so that the central position point is positioned to a target position corresponding to any target point of the first equipment on the XZ plane.
In some embodiments of the present invention, in the step S4, the relative position of the worktable to the first device in the X-axis direction is adjustable through a first motorized guide rail arranged in the X-axis direction, wherein the worktable is movably mounted on the first motorized guide rail; the relative position of the worktable to the first equipment in the Z-axis direction can be adjusted through a second electric guide rail arranged along the Z-axis direction, wherein the worktable is movably arranged on the second electric guide rail.
In some embodiments of the present invention, adjusting the stage to coincide the light source marking point with the pixel center point may include: during initial adjustment, the first motor-driven guide rail and the second motor-driven guide rail move at a first speed so as to accelerate the adjustment of the position of the workbench in the X-axis direction and the Z-axis direction; when the coordinate difference value between the pixel center point and the light source mark point is smaller than a set threshold, the first electric guide rail and the second electric guide rail move at a second speed so as to decelerate and adjust the position of the workbench in the X-axis direction and the Z-axis direction, wherein the second speed is smaller than the first speed.
In some embodiments of the present invention, the step S3 may further include: and generating a third control instruction according to first position data generated by contacting a position sensor with the first equipment through the image processing unit, wherein the position sensor is arranged at the front end of the workbench. The step S4 may further include: and adjusting the relative position of the workbench and the first device in the Y-axis direction according to the third control command through the position adjusting mechanism.
In some embodiments of the present invention, in the step S4, the relative position of the table to the first device in the Y-axis direction may be adjusted through a third motorized rail arranged in the Y-axis direction, wherein the table is movably mounted on the third motorized rail.
In some embodiments of the present invention, in the step S4, the rotation angle of the worktable in the rotation direction can be adjusted by a rotation mechanism, wherein the worktable is rotatably mounted on the rotation mechanism.
In some embodiments of the present invention, in step S2, before the camera acquires the position image, the method may further include: and adjusting the inclination of the workbench in the X-axis direction by an inclination adjusting mechanism connected with the workbench to enable the workbench to be basically parallel to the X-axis direction.
According to the utility model, by using the infrared light source based on visual positioning, the mutual position relation between the machine tables can be quickly and accurately established in the field of automatic production, and the cooperative operation and accurate cooperation of the machine tables are realized. The utility model reduces the interference of visible background light source in industrial environment and improves the identification capability and reliability of the mark positioning point by utilizing the wavelength characteristic of the infrared light source.
According to the utility model, the corresponding mark points of the infrared light source on the imaging plane of the camera are identified by the camera, so that the corresponding position of the specific position on the target equipment on the XZ plane can be quickly positioned. Also, the present invention uses a pressure sensor installed in the vertical direction (i.e., Y-axis direction), and can determine the relative position of the target device in the vertical direction from the feedback value of the pressure sensor. The utility model can also quickly and conveniently realize the three-dimensional coordinate positioning of the specific position of the target equipment through the mode of combining the two-dimensional plane image of the camera and the sensing of the pressure sensor in the vertical direction.
In the utility model, if the infrared light source on the target device is replaced by more than 2 LEDs (for example, 3 LEDs in the horizontal straight line direction) which are positioned on the same straight line, the camera identifies the included angle between the LED connecting line and the camera imaging horizontal line, and the adjustment of the inclination angle can be realized through the inclination angle adjusting mechanism. If the workbench is arranged on a rotating mechanism, the direction angle in the vertical direction can be positioned, and the pressure sensor arranged in the vertical direction can judge the relative position of the target equipment in the vertical direction through the feedback value of the pressure sensor. Through the two-dimensional plane image of the camera and the pressure sensor in the vertical direction, the combination of the rotating platform and the inclination angle adjusting mechanism can quickly and conveniently realize the five-dimensional coordinate positioning of the specific position of the target equipment.
In the above description, only one embodiment of the self-calibration function is realized by forming a closed-loop control by using the infrared light source and the camera corresponding to the wavelength filter, and if the inclination angle self-calibration mode and the vertical angle positioning self-calibration mode are adopted in combination with the inclination angle adjusting mechanism and the rotating mechanism, the multi-dimensional self-calibration function can be realized, the reset time of the device after moving is reduced, and the intelligence of the device is increased.
Exemplary embodiments of the present invention are specifically illustrated and described above. It is to be understood that the utility model is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (13)
1. An apparatus for obtaining relative positions between devices, comprising:
an infrared light source capable of emitting infrared light, the infrared light source being fixedly mounted on a first device;
the workbench is arranged on the second equipment through the position adjusting mechanism;
the camera can recognize the infrared light and is fixedly arranged on the workbench, and can acquire a position image of the infrared light source, wherein the infrared light source is correspondingly a light source mark point in the position image;
the image processing unit is connected with the camera and can receive the position image and acquire imaging data of the infrared light source in the position image; and generating a control instruction to the position adjusting mechanism according to the imaging data so that the position adjusting mechanism can adjust the relative position of the workbench and the first device according to the control instruction.
2. The apparatus for obtaining the relative position between the equipments according to claim 1, wherein the position adjusting mechanism comprises:
the first electric guide rail is arranged along the X-axis direction, and the workbench is movably arranged on the first electric guide rail;
and the second electric guide rail is arranged along the Z-axis direction, and the workbench is movably arranged on the second electric guide rail.
3. The apparatus for obtaining the relative position between the equipments according to claim 2, wherein the position adjusting mechanism further comprises:
and the third electric guide rail is arranged along the Y-axis direction, and the workbench is movably arranged on the third electric guide rail.
4. The apparatus for obtaining the relative position between the equipments as claimed in claim 3, wherein the position adjusting mechanism further comprises:
the position sensor is arranged at the front end of the workbench and connected with the image processing unit, and can be in contact with the first equipment and generate first position data;
wherein the image processing unit is capable of generating the control instruction to the position adjustment mechanism according to the first position data so that the position adjustment mechanism is capable of adjusting the relative position of the table with respect to the first device in the Y-axis direction according to the control instruction.
5. The apparatus for obtaining the relative position between the equipments according to claim 1, wherein the position adjusting mechanism comprises:
the workbench is rotatably arranged on the rotating mechanism, and the rotating mechanism can adjust the rotating angle of the workbench in the rotating direction.
6. The apparatus for obtaining the relative position between the devices according to claim 3 or 5, wherein the position adjusting mechanism further comprises:
and the inclination adjusting mechanism is connected with the workbench and can adjust the inclination of the workbench in the X-axis direction.
7. The apparatus of claim 1, wherein the infrared light source comprises one or more infrared LED light sources.
8. The apparatus for obtaining the relative position between the equipments as claimed in claim 7, wherein a plurality of said infrared LED light sources are arranged in a straight line in the X-axis direction or in the Z-axis direction.
9. The apparatus according to claim 1, wherein the image processing unit is a computer with image processing software or an embedded processing platform, and is connected to the camera through a data transmission interface or is connected to the camera through an external image acquisition card.
10. The apparatus for obtaining relative position between devices according to claim 1,
the imaging data comprises first position relation data of a light source mark point of the infrared light source in the position image relative to a pixel central point of the camera;
the image processing unit is further configured to obtain second positional relationship data of an arbitrary point of the first device with respect to the light source marker point, and third positional relationship data of a center position point of the center point of the workbench corresponding to the XZ plane and a pixel center point of the camera; and the control instruction is generated according to the first position relation data, the second position relation data and the third position relation data to control the position adjusting mechanism to adjust the position of the workbench in the X-axis direction and the Z-axis direction, so that the central position point is positioned to a target position corresponding to any target point of the first device on the XZ plane.
11. The apparatus for obtaining relative position between devices as claimed in claim 10,
the image processing unit is further used for generating a first control instruction according to the first position relation data so as to control the position adjusting mechanism to adjust the positions of the workbench in the X-axis direction and the Z-axis direction, so that the light source marking point is superposed with the pixel center point; and generating a second control instruction according to the second position relation data and the third position relation data to control the position adjusting mechanism to adjust the positions of the workbench in the X-axis direction and the Z-axis direction, so that the central position point is positioned to a target position corresponding to any target point of the first device on the XZ plane.
12. A Tray core sheet material automatic feed system, characterized by includes:
a first device;
a second device disposed opposite to the first device;
the device for acquiring the relative position between the equipment as claimed in any one of claims 1 to 11, wherein the infrared light source in the device is fixedly installed on the first equipment, the workbench in the device is installed on the second equipment through the position adjusting mechanism, and the camera is fixedly arranged on the workbench.
13. The Tray disk chip sheet material automatic feed system of claim 12, wherein the first device is a feeder table and the second device is a feeder table.
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| CN2021107770021 | 2021-07-09 | ||
| CN202110777002 | 2021-07-09 |
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| CN202110799289.8A Pending CN115599047A (en) | 2021-07-09 | 2021-07-15 | Device and method for acquiring relative positions between devices and automatic feeding system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115655115A (en) * | 2022-12-12 | 2023-01-31 | 锦瑞信息科技(南通)有限公司 | Display panel vision alignment system based on CCD camera |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115655115A (en) * | 2022-12-12 | 2023-01-31 | 锦瑞信息科技(南通)有限公司 | Display panel vision alignment system based on CCD camera |
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