CN112577423B - Method for machine vision position location in motion and application thereof - Google Patents
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Abstract
Description
Translated fromChinese技术领域technical field
本发明属于工业加工领域中的机器视觉定位技术，具体涉及一种在对工件进行加工时，利用机器视觉对代加工工件进行定位的技术。The invention belongs to the machine vision positioning technology in the field of industrial processing, and particularly relates to a technology for positioning a substitute processing workpiece by using machine vision when processing a workpiece.
背景技术Background technique
在一些工业生产的加工系统中，例如点胶、点锡、焊接以及激光加工系统等，为提高加工精度，普遍配合应用了视觉辅助定位系统。图1定位相机采集图像后，处理生成待加工对象的位置信息，后端以此数据进行位置修正后加工。一个这样的加工系统简化的主要流程为上料固定、视觉识别定位、末端加工。实际生产中，为了安全考虑和一些其他客观因素，加工对象在各个流程点间往往都存在一段不小的运动距离。待加工对象运动到视觉识别点处的逗留启停，势必也增加了时间成本，降低了生产效率。In some industrial production processing systems, such as glue dispensing, tin spotting, welding and laser processing systems, in order to improve the processing accuracy, visual aided positioning systems are generally used. Figure 1 After the positioning camera captures the image, the processing generates the position information of the object to be processed, and the back-end uses this data for position correction and post-processing. The main processes simplified by such a processing system are feeding and fixing, visual identification and positioning, and end processing. In actual production, for safety considerations and some other objective factors, there is often a considerable movement distance between the processing objects between each process point. When the object to be processed moves to the visual recognition point, it will inevitably increase the time cost and reduce the production efficiency.
现有的常规方案中(图2)，一般有三个预设固定位置：上料固定位A，视觉识别位B，加工位C。视觉系统通过预先标定校正B处的图像物理坐标系，将其与C处加工坐标系关联或重合。待加工对象在B处视觉处理得出的位置信息，即为其在C处修正的加工位置。然而当运动机构并未稳定运动至位置B时(未到位或过冲)，图像视野内实际坐标系就与C处的加工坐标系产生偏移甚至旋转。此时视觉识别的加工对象位置信息将是错误的，这也是常见的造成视觉定位数据误差的原因之一。因此该方案只能在被摄物静止在已知位置下才能得出准确可靠的位置修正信息，进入此状态势必造成时间上的浪费。In the existing conventional solution (Fig. 2), there are generally three preset fixed positions: a feeding fixed position A, a visual recognition position B, and a processing position C. The vision system calibrates and corrects the physical coordinate system of the image at B in advance, and associates or overlaps it with the processing coordinate system at C. The position information obtained by visual processing of the object to be processed at B is the corrected processing position at C. However, when the kinematic mechanism does not move to position B stably (not in position or overshoot), the actual coordinate system in the image field of view is offset or even rotated from the machining coordinate system at C. At this time, the position information of the processing object of the visual recognition will be wrong, which is also one of the common causes of errors in the visual positioning data. Therefore, in this solution, accurate and reliable position correction information can only be obtained when the subject is still at a known position, and entering this state will inevitably result in a waste of time.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种包含在运动中进行机器视觉位置定位的方法及其应用，以提高工件上料运送加工的节拍，进而提高加工效率。The purpose of the present invention is to provide a method for positioning machine vision position in motion and its application, so as to improve the rhythm of workpiece feeding and conveying processing, thereby improving processing efficiency.
本发明的技术方案之一是：包含在运动中进行机器视觉位置定位的方法，它包括依次间隔设置的上料工位，视觉系统识别工位以及加工工位，治具，治具上设置有标记基准点，基于标记基准点构建治具坐标系，所述治具坐标系与加工工位上的加工执行机构坐标系相同或者映射转换关联；待加工工件在上料工位固定设置在治具上，治具移动到加工工位的过程中，当标记基准点以及待加工工件处于视觉系统相机视野范围内时，采集一帧清晰的图像，获取标记基准点在图像物理坐标系下的位置N(xn,yn)，以及待加工工件在图像物理坐标系下的位置M(xm,ym)，将待加工工件在图像物理坐标系下的位置M(xm,ym)转换为治具坐标系位置坐标M’(xm’,ym’)，得到待加工工件在加工工位处的加工坐标。One of the technical solutions of the present invention is: a method for positioning machine vision positions during motion, which includes a feeding station, a visual system identification station and a processing station, a jig, and a jig is arranged on the jig. Mark the datum point, and build the jig coordinate system based on the marked datum point. The jig coordinate system is the same as the coordinate system of the processing actuator on the processing station or is associated with mapping conversion; the workpiece to be processed is fixedly set on the jig at the feeding station In the process of moving the fixture to the processing station, when the marking reference point and the workpiece to be processed are within the field of view of the camera of the vision system, a clear image is collected, and the position N of the marking reference point in the image physical coordinate system is obtained. (xn , yn ), and the position M (xm , ym ) of the workpiece to be processed in the image physical coordinate system, and convert the position M (xm , ym ) of the workpiece to be processed in the image physical coordinate system is the position coordinate M' (xm' , ym' ) of the jig coordinate system, and the machining coordinates of the workpiece to be machined at the machining station are obtained.
进一步优选的技术方案是：所述采集一帧清晰的图像的方法包括，利用治具运动速度，调整视觉系统相机的快门速度。A further preferred technical solution is: the method for collecting a frame of clear image includes adjusting the shutter speed of the camera of the vision system by using the moving speed of the fixture.
进一步优选的技术方案是：标记基准点构建治具坐标系是以标记基准点为原点的直角坐标系。A further preferred technical solution is that: the coordinate system of the marker datum point to construct the fixture is a rectangular coordinate system with the marker datum point as the origin.
进一步优选的技术方案是：治具与加工工位之间设置有定位结构，治具运动到加工工位后，通过定位结构实现治具定位，进而实现治具上标记基准点在加工工位的定位。A further preferred technical solution is: a positioning structure is arranged between the jig and the processing station. After the jig moves to the processing station, the positioning structure is used to realize the positioning of the jig, so as to realize the positioning of the marking reference point on the jig at the processing station. position.
进一步优选的技术方案是：治具坐标系与加工工位上的加工执行机构坐标系标定统一或者做映射转换的关联通过治具与加工工位之间定位后进行坐标系标定统一或者做映射转换的关联。A further preferred technical solution is: the coordinate system of the jig and the coordinate system of the processing actuator on the processing station are calibrated to be unified or the association of mapping conversion is performed, and the coordinate system is calibrated and unified or the mapping conversion is performed after positioning between the jig and the processing station. association.
进一步优选的技术方案是：治具坐标系与加工工位上的加工执行机构坐标系标定统一或者做映射转换的关联通过治具与加工工位之间定位后进行坐标系标定统一或者做映射转换的关联。A further preferred technical solution is: the coordinate system of the jig and the coordinate system of the processing actuator on the processing station are calibrated to be unified or the association of mapping conversion is performed, and the coordinate system is calibrated and unified or the mapping conversion is performed after positioning between the jig and the processing station. association.
进一步优选的技术方案是：依次间隔设置的上料工位，视觉系统识别工位以及加工工位之间设置有传送装置，机器视觉位置定位过程中所述治具设置传送装置上。A further preferred technical solution is: the feeding stations are arranged at intervals in sequence, a conveying device is arranged between the visual system identification station and the processing station, and the jig is arranged on the conveying device during the machine vision position positioning process.
进一步优选的技术方案是：采集一帧清晰的图像包括在治具运动状态下采集一帧清晰的图像或在在治具静止状态下采集一帧清晰的图像。A further preferred technical solution is: collecting a frame of clear image includes collecting a frame of clear image when the fixture is in motion or collecting a frame of clear image when the fixture is stationary.
本发明的技术方案之二是，将上述方法用于对工件的激光加工中。The second technical solution of the present invention is to use the above method in the laser processing of the workpiece.
由于本发明将治具的坐标系与加工工位的加工执行机构坐标系标定统一或者做映射转换的关联；本发明通过视觉系统的图像坐标关系，将被加工工件在图像坐标系的位置坐标转换为被加工工件在治具坐标系的位置坐标，治具在加工工位定位后，治具上的标记基准点也在加工工位的定位，进而确定了治具上的被加工工件在治具上的位置坐标，或者说确定了被加工工件在加工工位上的位置坐标。这样，可以实现在运动过程中采集治具(工件)图像，大大提高了图像采集的效率，同时，也可以实现同一个治具上任一设置被加工工件，提高治具对工件的兼容性，进而提高上料阶段的效率，提高工件上料运送加工的节拍。该方法可广泛用于基于机器视觉加工场景，特别适用激光加工，如激光焊接等。Because the present invention unifies the calibration of the coordinate system of the fixture and the coordinate system of the processing actuator of the processing station or associates the mapping conversion; the present invention converts the position coordinates of the workpiece to be processed in the image coordinate system through the image coordinate relationship of the vision system. For the position coordinates of the workpiece to be processed in the jig coordinate system, after the jig is positioned at the processing station, the mark reference point on the jig is also positioned at the processing station, thereby determining the position of the workpiece to be processed on the jig in the jig. The position coordinates on the machine, or determine the position coordinates of the workpiece to be machined on the machining station. In this way, the image of the jig (workpiece) can be collected during the movement process, which greatly improves the efficiency of image collection. At the same time, it can also realize any setting of the workpiece to be processed on the same jig, which improves the compatibility of the jig with the workpiece, and then Improve the efficiency of the loading stage and improve the rhythm of the workpiece loading and processing. This method can be widely used in machine vision-based processing scenarios, and is especially suitable for laser processing, such as laser welding.
附图说明Description of drawings
图1视觉成像系统结构示意图Figure 1 Schematic diagram of the structure of the visual imaging system
图2视觉辅助定位加工系统结构图。Figure 2 is a structural diagram of a visual aided positioning processing system.
图3本发明治具坐标系示意图。FIG. 3 is a schematic diagram of the coordinate system of the fixture of the present invention.
图4运动状态下有效采集帧示意图。Figure 4 is a schematic diagram of an effective acquisition frame in a motion state.
图示中，1-视觉系统的相机；2-相机镜头；3-视觉系统的的视觉光源；4-治具；5-被加工工件；6-正常拍摄位示意；7-工件未到位示意位；8-工件过冲示意位；9-治具上标记基准点；10-图像物理坐标系；11-治具坐标系；12-承载加工区，13-视觉系统相机视野范围(标定)示意图。A-上料工位；B-视觉系统识别工位；C-加工工位。In the figure, 1-camera of vision system; 2-camera lens; 3-visual light source of vision system; 4-fixture; 5-workpiece to be processed; 6-normal shooting position indication; 7-workpiece not in place indication position ; 8- Workpiece overshoot indication position; 9- Mark reference point on the fixture; 10- Image physical coordinate system; 11- Fixture coordinate system; 12- Load processing area, 13- Vision system camera field of view (calibration) schematic diagram. A-feeding station; B-visual system identification station; C-processing station.
具体实施方式Detailed ways
下列具体实施方式用于对本发明权利要求技术方案的解释，以便本领域的技术人员理解本权利要求书。本发明的保护范围不限于下列具体的实施结构。本领域的技术人员做出的包含有本发明权利要求书技术方案而不同于下列具体实施方式的也是本发明的保护范围。The following specific embodiments are used to explain the technical solutions of the claims of the present invention, so that those skilled in the art can understand the claims. The protection scope of the present invention is not limited to the following specific implementation structures. The technical solutions made by those skilled in the art that include the technical solutions of the claims of the present invention and are different from the following specific embodiments are also the protection scope of the present invention.
本发明中所述的治具用于设置固定被加工工件，它可以在各工位之间移动。可以采用但不限于是承载平台(载台)和夹具结构或承载平台(载台)和限位结构或夹具。The jig described in the present invention is used to set and fix the workpiece to be processed, and it can move between various stations. It can be adopted but not limited to a carrying platform (carrying platform) and a fixture structure or a carrying platform (carrying platform) and a limiting structure or a jig.
治具上设置有标记基准点采用但不限于是治具上某个位设置的凸点或凹点，或涂覆的彩色点，或粘贴的标记点。The jig is provided with a marked reference point, but is not limited to a convex point or a concave point set at a certain position on the jig, or a coated color point, or a pasted mark point.
构建治具坐标系是以标记基准点为原点的直角坐标系。可以是软件中的数据坐标系，也可以是包括软件中的数据坐标系和实体上的坐标系；The coordinate system for constructing the jig is a Cartesian coordinate system with the mark reference point as the origin. It can be the data coordinate system in the software, or it can include the data coordinate system in the software and the coordinate system on the entity;
图像物理坐标系是视觉系统中相机成像的坐标系，它是机器视觉识别技术中常规的设置。The image physical coordinate system is the coordinate system of the camera imaging in the vision system, which is a conventional setting in the machine vision recognition technology.
加工执行机构坐标系是加工位，为了确定被加工工件位置设定的软件数据坐标系，它是机器视觉识别技术中确定被加工工件位置常规的设置。The coordinate system of the machining actuator is the machining position. In order to determine the position of the workpiece to be machined, the coordinate system of the software data is a conventional setting for determining the position of the workpiece to be machined in the machine vision recognition technology.
依次间隔设置的上料工位A，视觉系统识别工位B以及加工工位C之间设置的传送装置，可采用但不限于传动带，传动链，机器人等。The feeding station A is arranged at intervals, and the vision system identifies the conveying device between the station B and the processing station C, which can be, but not limited to, a transmission belt, a transmission chain, a robot, and the like.
治具与加工工位之间设置的定位结构可采用但不限于定位销，定位卡扣，定位凸起及定位槽。The positioning structure set between the fixture and the processing station can be, but not limited to, positioning pins, positioning buckles, positioning protrusions and positioning grooves.
在构建了治具坐标系后，在加工工位，将治具定位于于加工工位后，利用治具坐标系对加工工位上的加工执行机构坐标系进行标定，可以将加工执行机构坐标系与治具坐标系标定成相同的坐标系(两坐标系重合)，或者两个坐标系之间形成固定的转换映射转换关联(包括平移和/或旋转角度)。After constructing the jig coordinate system, in the processing station, after positioning the jig at the processing station, use the jig coordinate system to calibrate the coordinate system of the processing actuator on the processing station. The system and the fixture coordinate system are calibrated into the same coordinate system (the two coordinate systems are coincident), or a fixed transformation mapping transformation association (including translation and/or rotation angle) is formed between the two coordinate systems.
本实施例采用将加工执行机构坐标系与治具坐标系标定成相同。In this embodiment, the coordinate system of the processing actuator and the coordinate system of the jig are calibrated to be the same.
本实施例系用于对工件的激光加工。加工位C处设振镜加工头。This embodiment is used for laser processing of workpieces. A galvanometer processing head is set at the processing position C.
实施例中，凸起带色彩的标记基准点设在治具(载台及夹具)的载台上的非承载非加工区。图3所示；In the embodiment, the raised and colored marking reference points are set in the non-loading and non-processing area of the jig (the carrier and the jig). As shown in Figure 3;
待加工工件在上料工位固定设置在治具上，传动装置将治具及待加工工件移动到加工工位的过程中，经过视觉系统识别工位，当标记基准点以及待加工工件处于视觉系统相机视野范围内后，触发视觉系统识别工位的传感器，相机启动拍摄采集一帧清晰的图像，图像内包括待加工工件以及标记基准点。视觉系统采集图像的过程中，治具不停止移动。The workpiece to be processed is fixed on the jig at the feeding station, and the transmission device moves the jig and the workpiece to be processed to the processing station, and the visual system identifies the station. When the marked reference point and the workpiece to be processed are in the visual state After the system camera is within the field of view, the vision system is triggered to identify the sensor of the station, and the camera starts to shoot and collect a frame of clear image, which includes the workpiece to be processed and the marked reference point. During the process of image acquisition by the vision system, the fixture does not stop moving.
为获取清晰的图像，利用治具运动速度，调整视觉系统相机的快门速度(帧频)。它可以采用传送装置设定的固定的运动速度，设定的快门速度；也可以是实时检测的传送装置运动速度，动态调整相机的拍摄快门速度。To obtain a clear image, adjust the shutter speed (frame rate) of the vision system camera using the speed of the jig movement. It can adopt the fixed movement speed set by the transmission device and the set shutter speed; it can also be the movement speed of the transmission device detected in real time, and dynamically adjust the shooting shutter speed of the camera.
采集到待加工工件以及标记基准点的图像后，基于图像物理坐标系，获取标记基准点在图像物理坐标系下的位置N(xn,yn)，以及待加工工件在图像物理坐标系下的位置M(xm,ym)，通过二维平面坐标系变换原理计算可得工件M点在治具坐标系下的位置坐标M’(xm’,ym’)，如图4所示。After collecting the images of the workpiece to be processed and the marked reference point, based on the image physical coordinate system, obtain the position N(xn , yn ) of the marked reference point in the image physical coordinate system, and the workpiece to be processed in the image physical coordinate system. The position M (xm , ym ) of the workpiece can be calculated through the transformation principle of the two-dimensional plane coordinate system to obtain the position coordinate M' (xm' , ym' ) of the workpiece M point in the jig coordinate system, as shown in Figure 4 Show.
治具运动到加工工位C后，通过治具与加工工位之间设的定位结构定位后，上述获得的工件M点在治具坐标系下的位置坐标M’(xm’,ym’)就是加工坐标。因工件在上料装夹完成后，在治具内始终保持相对位置不变，即M与N相对位置不变，所以在当前工件的所有有效采集帧图像里得到的工件加工坐标信息也是一致的。即在运动过程中准确计算出工件的实际加工位置。After the jig moves to the processing station C, after being positioned by the positioning structure set between the jig and the processing station, the position coordinates of the workpiece M in the jig coordinate system obtained above are M' (xm' , ym' ) is the processing coordinate. After the workpiece is loaded and clamped, the relative position remains unchanged in the fixture, that is, the relative positions of M and N remain unchanged, so the workpiece processing coordinate information obtained in all valid acquisition frame images of the current workpiece is also consistent. . That is, the actual machining position of the workpiece is accurately calculated during the movement.
本发明解决常规方案中的不足，使被加工对象在运动过程中无需稳定停止的状态下，视觉系统即可实现准确可靠的加工位置修正，消除运动机构在定位识别点处的启停加减速和到位稳定时间，从而进一步提高生产加工效率。The invention solves the shortcomings of the conventional solutions, so that the vision system can realize accurate and reliable processing position correction without the need to stably stop during the movement of the object to be processed, and eliminates the start-stop acceleration and deceleration of the motion mechanism at the positioning and identification point. Stabilize time in place, thereby further improving production and processing efficiency.
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| CN113706611B (en)* | 2021-10-22 | 2022-04-12 | 成都新西旺自动化科技有限公司 | High-precision correction control system and correction method based on visual precision movement mechanism |
| CN114147664B (en)* | 2021-12-09 | 2024-08-09 | 苏州华星光电技术有限公司 | Jig replacing method and electronic equipment manufacturing method |
| CN117020543B (en)* | 2023-10-08 | 2024-03-29 | 宁德时代新能源科技股份有限公司 | Pre-welding positioning system and method |
| CN119044521A (en)* | 2024-07-12 | 2024-11-29 | 中国科学院苏州生物医学工程技术研究所 | Sample application method, controller of sample application device and sample application device |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | Denomination of invention:Method and Application of Machine Vision Position Localization in Motion Granted publication date:20220909 Pledgee:CITIC Bank Limited by Share Ltd. Wuhan branch Pledgor:Wuhan Lingyun Photoelectronic System Co.,Ltd. Registration number:Y2025980006751 |