CN103745471A - Visual detection and control method for use in automatic boxing of notebook computer batteries - Google Patents

Abstract

The invention discloses a visual detection and control method for use in automatic boxing of notebook computer batteries. The visual detection and control method is characterized by comprising the following steps: shooting notebook computer battery images by using a CCD (Charge Coupled Device) camera arranged above a conveying belt, determining the specific position and direction of each notebook computer battery on the conveying belt by using a visual detection algorithm, and controlling a manipulator to move and grab the notebook computer batteries; shooting an image of visible light emitted from a rectangular hole in the center of each battery slot by using a CCD camera above a rotating platform, determining the positions of slots into which batteries are to be placed currently and the placing directions of the anodes and cathodes of the batteries by using an image processing algorithm, and arranging the anodes and the cathodes of the notebook computer batteries in sequence in a butt-joint way through a rotating mechanism; automatically packing the arranged notebook computer batteries in battery boxes through the manipulator. By adopting a visual detection principle, the visual detection and control method has the advantages of easiness, high detection accuracy and high automation degree in a control loop.

Description

A kind of vision-based detection for the automatic mounted box of Notebook Battery and control method

Technical field

What the present invention relates to is a kind of automatic production line, and particularly a kind of automatic production line of scattered synthetic rapid-assembling, belongs to Electromechanical Control field.

Background technology

Along with the development of world's industry and commerce process, the growing material and cultural needs of the mankind increases day by day with the contradiction between the backwardness of social production, the scientific and technological progress of entering to determine society.The gusher formula of the notebook of various brands occurs, the competition of aggravation Liao Ge businessman.Improve the quality of products, speed production efficiency and will determine that businessman obtains initiatively in competition.

Through retrieval, find, the assembling of current domestic Notebook Battery is handwork substantially, and the subject matter that handwork exists has: production efficiency is low and quality is unstable, because a large amount of repetitions, dull operation can make people feel uninteresting, tired, very easily there is loading error in addition.If made a mistake, not only can affect the quality of battery, also can produce unnecessary consequence after sale.And the expensive of nowadays manpower work is also the unmodifiable fact.

Summary of the invention

The object of the invention is to overcome that domestic to take handwork be the deficiency of main Notebook Battery assemble method, provide a kind of utilize vision-based detection principle, method simple, detect accurately high, the vision-based detection for the automatic mounted box of Notebook Battery and control method that controlling unit automaticity is high.

Compared with prior art, tool of the present invention has the following advantages:

(1) the present invention adopts machine vision technique, a kind of vision-based detection for the automatic mounted box of Notebook Battery and control method are proposed, overcome that production efficiency hand-manipulated is low, quality is unstable, the drawback of loading error, improved the gentle efficiency of Automated water that Notebook Battery is installed.

(2) utilize two CCD cameras, be respectively used to calculate the centre coordinate of Notebook Battery on production line and the position that definite Notebook Battery should be placed, and then realized the automatic mounted box of Notebook Battery, improved precision and the reliability of the automatic mounted box of Notebook Battery.

Accompanying drawing explanation

Fig. 1 is worktable schematic diagram;

Fig. 2 reverses platform initial position floor map;

Fig. 3 is the position view after Notebook Battery rotation;

Fig. 4 comprises Fig. 4 (a) and 4(b) is the coordinate transform schematic diagram that solves polar angle;

Fig. 5 is overall workflow figure.

In figure: 1-transfer station; 2-Notebook Battery; 3-mechanical arm J1; 4-CCD camera C1; 5-station A; 6-magnetic chuck X1; 7-tooling platform V; 8 battery cases; 9-mechanical arm J2; 10-reverses platform B; 11-magnetic chuck X2; A 12-CCD report picture C2; 13-draw-in groove K1; 14 draw-in groove K2; 15-draw-in groove K3; 16-draw-in groove K4; 17-draw-in groove K5; 18-draw-in groove K6; 19-turning axle Z1; 20-turning axle Z2; Hole in the middle of 21-draw-in groove.

Embodiment:

As shown in Figure 5, the present invention comprises the following steps for vision-based detection and the control method of Notebook Battery automatic Composition:

Respectively directly over production line station A and battery draw-in groove K ₃and K ₄cCD camera C is installed directly over centre ₁with CCD camera C ₂, on the torsion platform B of parallel and production line, six battery draw-in groove K are set ₁, K ₂, K ₃, K ₄, K ₅, K ₆, the centre bottom of six battery draw-in grooves is offered rectangle hole, places respectively the white visible light source irradiating, battery draw-in groove K below each battery draw-in groove upward ₁and K ₂connect as one battery draw-in groove K ₃and K ₄connect as one battery draw-in groove K ₅and K ₆connect as one, at draw-in groove K ₃the lower left corner arranges a turning axle Z perpendicular to reversing platform B ₁, at K ₄the upper right corner arranges a turning axle Z perpendicular to reversing platform B ₂, K ₂and K ₃through turning axle Z ₁be connected, make K ₁, K ₂can be around Z ₁be rotated counterclockwise 180 degree, K ₄and K ₅through turning axle Z ₂be connected, K ₅, K ₆can be around Z ₂be rotated counterclockwise 180 degree.Concrete layout as shown in Figure 1-Figure 3.

CCD camera C ₁be responsible for the collection of Notebook Battery image on production line, CCD camera C ₂be responsible for reversing the collection of upper 6 draw-in grooves of platform B and center white visible images thereof, mechanical arm J ₁with mechanical arm J ₂end is respectively with cuboid groove shape magnetic chuck X ₁and X ₂, mechanical arm J ₁be responsible for a batteries after production line captures and be put in the draw-in groove reversing on platform mechanical arm J ₂after being responsible for six batteries on torsion retrotorsion platform B to capture together, be placed in the battery case of notebook, battery case is placed on and reverses the other tooling platform V of platform B above, and later step is as follows:

Step 1: utilize CCD camera C ₁take pictures and extract centre coordinate and the directional information of the Notebook Battery at station A place on production line, and control mechanical arm J ₁capture battery

(1) adopt a kind of improved Roberts edge algorithms to detect the edge of notebook cell image

First, with CCD camera C ₁taking the image of production line station A place Notebook Battery, is initial point O at the lower-left point of image ₁set up rectangular coordinate system iO ₁j, adopts 3 * 3 whole image of detection window traversal, in 8 connected pixel neighborhoods, and difference calculated level direction, vertical direction, the Grad in 135 degree directions and 45 degree directions, wherein, the Grad in horizontal direction is: P ₀[i, j]=| I ₁[i-1, j]-I ₁[i+1, j] |, the Grad in vertical direction is: P ₉₀[i, j]=| I ₁[i, j-1]-I ₁[i, j+1] |, the Grad in 135 degree directions is: P ₁₃₅[i, j]=| 2 * (I ₁[i-1, j-1]-I ₁[i+1, j+1]) |, the Grad in 45 degree directions is: P ₄₅[i, j]=| 2 * (I ₁[i+1, j-1]-I ₁[i-1, j+1]), I in formula ₁the gray-scale value of capable, the j row pixel of i in the original image that [i, j] representative gathers, i=0,1,2 ..., 398, or 399, j=0,1,2 ..., 298, or 299,

Secondly, calculate total Grad M[i in 8 connected pixel neighborhoods, j], M[i, j]=P ₀[i, j]+P ₉₀[i, j]+P ₁₃₅[i, j]+P ₄₅[i, j], and itself and the threshold tau of setting are compared, obtain the gray-scale value C[i of binaryzation back edge image, j], $C[i,j]=\left\{\begin{array}{c}1,M[i,j]>\mathrm{\τ}\\ 0,M[i,j]\≤\mathrm{\τ}\end{array}\right.,$ Wherein, the selected threshold that τ is marginal point, and τ=6,

(2) pass through the polar angle θ of the column axis of the above-mentioned station A of Hough transformation calculations place Notebook Battery

As shown in Figure 4, Figure 5, first, will be with O ₁for the rectangular coordinate system of initial point changes into O ₁for the polar coordinate system of initial point, establishing ρ is utmost point footpath, and α is polar angle, and ρ and α are natural number, and ρ equals 0,1 ..., 498, or 499, α equals 0,1 ..., 178, or 179, a discrete parameter space between its maximal value and minimum value, set up respectively;

Secondly, set up the totalizer N[ρ of a two-dimensional array] [α], in juxtaposition array, each element is 0;

Then, each marginal point in edge image C [i, j], the pixel that edge image gray-scale value is 1, does Hough conversion, calculates this corresponding curve in polar coordinate system, and adds 1 on corresponding totalizer, i.e. N[ρ] [α]=N[ρ] [α]+1,

Finally, find out the local maximum of the totalizer of collinear point on correspondence (x, y) coordinate system, this value provides the parameter (ρ of collinear point straight line on (x, y) coordinate plane ₀, α ₀), α ₀be the polar angle of the straight line that collinear point are maximum, because the length of two crest line HR of battery and GP is the longest, therefore, the line segment that collinear point are maximum must be in HR or GP, again because HR is parallel with GP, again with battery post body axis L ₁l ₂parallel, therefore, battery post body axis L ₁l ₂polar angle θ=α ₀,

(3) coordinate conversion

By original coordinate system iO ₁any point coordinate in j [i, j] is transformed into i ' O in new coordinate system ₁j ', and calculate its new coordinate figure [i ', j '], specific formula for calculation is as follows:

First, when time, by original coordinate system iO ₁j is around an O ₁be rotated counterclockwise

angle is set up new for O ₁rectangular coordinate system i ' O for initial point ₁j ',

, $\left\{\begin{array}{c}{i}^{\′}=\sqrt{i^2+j^2}\cos (\mathrm{\β}-\mathrm{\θ}-\frac{\mathrm{\π}}{2})\\ j^{\′}=\sqrt{i^2+j^2}\sin (\mathrm{\β}-\mathrm{\θ}-\frac{\mathrm{\π}}{2})\end{array}\right.,$

Wherein, i ', j ' is respectively coordinate system i ' O ₁the horizontal stroke of j ' mid point, ordinate value, and i ', j ' is natural number, i '=-399 ,-398 ... 0,1,2 ..., 398, or 399, j '=-299 ,-298 ..., 0,1,2 ..., 298, or 299, and the horizontal ordinate i of point equals at 0 o'clock,

when the horizontal ordinate i of point is not equal to 0, $\mathrm{\β}={\arctan }^{-1}\frac{j}{i},$

When

time, by original coordinate system iO ₁j is around an O ₁be rotated counterclockwise

angle is set up new for O ₁rectangular coordinate system i ' O for initial point ₁j ',

, $\left\{\begin{array}{c}{i}^{\′}=\sqrt{i^2+j^2}\cos (\mathrm{\β}-\mathrm{\θ}+\frac{\mathrm{\π}}{2})\\ j^{\′}=\sqrt{i^2+j^2}\sin (\mathrm{\β}-\mathrm{\θ}+\frac{\mathrm{\π}}{2})\end{array}\right.,$

(4) calculate above-mentioned station A place Notebook Battery center point coordinate

First, at original coordinate system iO ₁in j, the image gathering is carried out to Threshold segmentation binary conversion treatment, obtain the gray-scale value B of binary image ₁[i, j],

i ₁[i, j] is the gray-scale value of the original image of collection, and T is the binarization segmentation threshold value of barrier and background, T=210, I ₁the gray-scale value of capable, the j row pixel of i in the original image that [i, j] representative gathers, i=0,1,2 ..., 398, or 399, j=0,1,2 ..., 298, or 299, and the point that binaryzation in coordinate system is not processed is all set to 0,

Then, by the gray-scale value B of image after binaryzation ₁[i, j], at coordinate system i ' O ₁in j ', respectively to projection on i ' axle and j ' axle, determine the coordinate J of battery central point on i ' axle and j ' axle _x' and J _y', concrete steps are as follows:

1) by the gray-scale value B of image after binaryzation ₁[i, j], to projection on i ' axle, calculates the gray-scale value sum that each parallel with j ' axle lists all pixels, and result of calculation is stored in respectively to array F ₁in [f], when

time, $F_1\left[f\right]=\underset{i^{\&prime;}=-{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="140109161534.png"\; state="\{\{state\}\}">r</figure-callout>}}_1}{\overset{0}{\mathrm{\&Sigma;}}}{B}_1[f,i^{\&prime;}],$ Wherein ${\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="140109161534.png"\; state="\{\{state\}\}">r</figure-callout>}}_1=400\&times;\cos (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;}),$ M ₁=300 * cos θ, n ₁=300 * cos θ, and r ₁, m ₁, n ₁adopt respectively rounding-off method to round numerical value, f is from-m ₁value is to n successively ₁; When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $F_1\left[f\right]=\underset{i^{\&prime;}=-m}{\overset{n}{\mathrm{\&Sigma;}}}{B}_1[f,i^{\&prime;}],$ Wherein ${\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="140109161534.png"\; state="\{\{state\}\}">r</figure-callout>}}_1=500\&times;\cos (\mathrm{\&beta;}-\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2}),$ M ₁=400 * cos (π-θ),

and r ₁, m ₁, n ₁adopt respectively rounding-off method to round numerical value, f from 0 successively value to r ₁;

2) by the gray-scale value B of image after binaryzation ₁[i, j], to projection on j ' axle, calculates the gray-scale value sum of all pixels in every a line parallel with i ' axle, and result of calculation is stored in respectively to array H ₁in [h], when time, $H_1\left[h\right]=\underset{i^{\&prime;}={-m}_2}{\overset{n_2}{\mathrm{\&Sigma;}}}{B}_1(i^{\&prime;},h),$ Wherein $r_2=500\&times;\cos (\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),m_2=400\&times;\cos (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;}),$ N ₂=300 * cos θ, and r ₂, m, n adopt respectively rounding-off method to round numerical value, h from 0 successively value to r ₂; When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $H_1\left[h\right]=\underset{i^{\&prime;}=0}{\overset{r_2}{\mathrm{\&Sigma;}}}{B}_1(i^{\&prime;},h),$ Wherein $r_2=500\&times;\cos (\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),$ M ₂=400 * cos (π-θ),

and r ₂, m ₂, n ₂adopt respectively rounding-off method to round numerical value, h is from-m ₂value is to n successively ₂,

3) at coordinate system i ' O ₁in j ', adopt two ends detection method, determine the abscissa value on the left and right border of Notebook Battery on i ' direction of principal axis, and by result store at variable J _l', J _r' in, the ordinate value on the upper and lower border of determining is stored in to variable K ' on j ' direction of principal axis simultaneously _uand K ' _din, concrete steps are as follows:

A) f is according to f=-400, and-399 ..., 0,1,2,399,400 values successively, when f meets following condition: F ₁[f+2]-F ₁[f]>=15 & & F ₁[f+2]>=25 & & F ₁[f]≤5, show to have detected the left margin of Notebook Battery, use variable J _l' note down current horizontal ordinate f, and make J _l'=f, continues to f assignment, when f meets following condition: F ₁[f]-F ₁[f+2]>=15 & & F ₁[f]>=25 & & F ₁[f+2]≤5, show to have detected the right margin of Notebook Battery, use variable J _r' note down current horizontal ordinate f, and make J _r'=f,

B) h is according to h=-300, and-299 ... 0,1,2 ... 299,300 values successively, when h meets following condition: H ₁[h+2]-H ₁[h]>=15 & & H ₁[h+2]>=25 & & H ₁[h]≤5, show to have detected the lower boundary of Notebook Battery, with variable K ' _dnote down current horizontal ordinate h, and make K ' _d=h, continues to h assignment, when h meets following condition: H ₁[h]-H ₁[h+2]>=15 & & H ₁[h]>=25 & & H ₁[h+2]≤5, show to have detected the coboundary of Notebook Battery, with variable K ' _unote down current horizontal ordinate h, and make K ' _u=h,

C) calculate the horizontal ordinate C ' of Notebook Battery central point _{i '}with ordinate C ' _{j '}, C ' _{i '}=(J _l'+J _r')/2, C ' _{j '}=(K ' _u+ K ' _d)/2,

(5) determine the position of Notebook Battery positive pole and negative pole

If F[J _l'] > F[J _r'], Notebook Battery negative pole is at coordinate system i ' O ₁the middle abscissa value of j ' is J _l', anodal abscissa value is J _r'; If F[J _l'] < F[J _r'], Notebook Battery positive pole is at coordinate system i ' O ₁the middle abscissa value of j ' is J _l', negative pole abscissa value is J _r',

(6) according to Notebook Battery central point at coordinate system i ' O ₁horizontal stroke under j ', ordinate value, calculate at iO ₁horizontal stroke under j coordinate system, ordinate value, computing formula is as follows:

When $\&le;\mathrm{\&theta;}<\frac{\mathrm{\&pi;}}{2}$ Time, $\left\{\begin{array}{c}{C}_i=\sqrt{{C_{i^{\&prime;}}}^2+{C_{j^{\&prime;}}}^2}\cos ({\mathrm{\&beta;}}^{\&prime;}+\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2})\\ C_j=\sqrt{{C_{i^{\&prime;}}}^2+{C_{j^{\&prime;}}}^2}\sin ({\mathrm{\&beta;}}^{\&prime;}+\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2})\end{array}\right.$

When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $\left\{\begin{array}{c}{C}_i=\sqrt{{C_{i^{\&prime;}}}^2+{C_{j^{\&prime;}}}^2}\cos ({\mathrm{\&beta;}}^{\&prime;}+\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2})\\ C_j=\sqrt{{C_{i^{\&prime;}}}^2+{C_{j^{\&prime;}}}^2}\sin ({\mathrm{\&beta;}}^{\&prime;}+\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2})\end{array}\right.$

Wherein, C _{i '}and C _{j '}be respectively at new rectangular coordinate system i ' O ₁horizontal stroke, the ordinate value of definite Notebook Battery central point in j ', as horizontal ordinate C _{i '}equal at 0 o'clock,

as horizontal ordinate C _{i '}be not equal at 0 o'clock, ${\mathrm{\&beta;}}^{\&prime;}={\arctan }^{-1}\frac{C_{j^{\&prime;}}}{C_{i^{\&prime;}}},$

(7) control mechanical arm J ₁capture Notebook Battery

First, PLC controls mechanical arm J ₁to specified coordinate position, i.e. Notebook Battery center C (C _i, C _j), and it is vertical with torsion platform B horizontal center line ST to control the long the longest limit MN of rib of magnetic chuck X1, MN and L ₁l ₂parallel, when

time, PLC controls mechanical arm and is rotated counterclockwise θ angle and declines 10 centimetres, and then magnetic chuck powers on and captures battery and rise 10 centimetres, now, if F[J _l'] > F[J _r'], control turn clockwise θ angle decline 10 centimetres of mechanical arm, then magnetic chuck power-off is put into Notebook Battery to reverse on platform, if F[J _l'] < F[J _r'], control mechanical arm and be rotated counterclockwise π-θ angle and decline 10 centimetres, then magnetic chuck power-off is put into Notebook Battery to reverse on platform; When

time, control turn clockwise π-θ angle decline 10 centimetres of mechanical arm, then magnetic chuck powers on and captures battery and rise 10 centimetres, now, if F[J _l'] > F[J _r'], control mechanical arm and be rotated counterclockwise π-θ angle and decline 10 centimetres, then magnetic chuck power-off is put into Notebook Battery to reverse on platform, if F[J _l'] < F[J _r'], control turn clockwise θ angle decline 10 centimetres of mechanical arm, then magnetic chuck power-off is put into Notebook Battery to reverse on platform;

Step 2: utilize CCD camera C ₂take and reverse six draw-in groove centre bottom rectangle hole images on platform, by image processing algorithm, determine position and the positive and negative electrode direction that Notebook Battery should be placed

(1) image is carried out to binary conversion treatment

With CCD camera C ₂take the image that reverses upper six draw-in grooves of platform B, with CCD camera C ₂the central point O of the image of taking ₂for initial point is set up rectangular coordinate system, the image of taking is carried out to Threshold segmentation binary conversion treatment, obtain the gray-scale value B of binary image ₂[i, j],

i ₂[i, j] is CCD camera C ₂the i that gathers image is capable, the gray-scale value of j row pixel, T ₂for the white visible ray that sends from draw-in groove central rectangular aperture hole and the binarization segmentation threshold value of background, T ₂=200, i, j is natural number, and i=-199, and-198 ..., 0,1,2 ..., 198, or 199, j=-149 ,-148 ..., 0,1,2 ..., 148, or 149,

(2) image is carried out to noise remove and connective processing

First, the gray-scale value of pixel on image edge is set to 0, then adopts 3 * 3 detection window traversal entire image, the gray-scale value that makes detection window central point is B ₂[i, j], the central point around gray-scale value of 8 neighborhood points is respectively B in a clockwise direction from the upper left corner ₂[i-1, j+1], B ₂[i, j+1], B ₂[i+1, j+1], B ₂[i+1, j], B ₂[i+1, j-1], B ₂[i, j-1], B ₂[i-1, j-1], B ₂[i-1, j],

Allow 3 * 3 detection window travel through successively entire image, the gray-scale value of the pixel under calculation window covers, if B ₂[i, j]+B ₂[i-1, j+1]+B ₂[i, j+1]+B ₂[i+1, j+1]+B ₂[i+1, j]+B ₂[i+1, j-1]+B ₂[i, j-1]+B ₂[i-1, j-1]+B ₂[i-1, j]≤3, make B ₂[i, j]=1, otherwise, B made ₂[i, j]=0,

Secondly, the image of removing after noise is carried out to horizontal projection

The gray-scale value of removing each pixel listing of image after noise is added, result of calculation is stored in respectively to array F ₂in [f],

wherein f is integer, f=-199, and-198 ..., 0,1,2 ..., 198, or 199,

(3) Notebook Battery central point horizontal ordinate in computed image

F is according to f=-199, and-198 ... 0,1,2 ..., 198, or 199 values successively, when f meets following condition: F ₂[f+2]-F ₂[f]>=15 & & F ₂[f+2]>=25 & & F ₂[f]≤5, show that the rising edge for the first time that image detected, along coordinate, notes down current horizontal ordinate f with variable G, and make G=f, continue to f assignment, when f meets following condition: F ₂[f]-F ₂[f+2]>=15 & & F ₂[f]>=25 & & F ₂[f+2]≤5, show that the trailing edge for the first time that image detected, along coordinate, stops the assignment to f, note down current horizontal ordinate f, and make G '=f, Notebook Battery rectangle draw-in groove K with variable G ' ₄intermediate rectangular hole is width value d in image ₀'=G '-G, unit is pixel, utilizing ruler directly to measure Notebook Battery rectangle draw-in groove intermediate rectangular hole width is d ₀, draw-in groove K ₁and K ₂distance between intermediate rectangular hole center is l ₁, draw-in groove K ₂and K ₃distance between intermediate rectangular hole center is l ₂, draw-in groove K ₃and K ₄distance between intermediate rectangular hole center is l ₃, draw-in groove K ₄and K ₅distance between intermediate rectangular hole center is l ₄, draw-in groove K ₅and K ₆distance between intermediate rectangular hole center is l ₅, d ₀, l ₁, l ₂, l ₃, l ₄and l ₅unit be millimeter; Known as calculated, draw-in groove K in image ₁and K ₂distance between intermediate rectangular hole center

draw-in groove K ₂and K ₃distance between intermediate rectangular hole center

draw-in groove K ₃and K ₄distance between intermediate rectangular hole center

draw-in groove K ₄and K ₅distance between intermediate rectangular hole center draw-in groove K ₅and K ₆distance between intermediate rectangular hole center

l ₁', l ₂', l ₃', l ₄', l ₅' unit be pixel, and round off method is to l ₁', l ₂', l ₃', l ₄', l ₅' round, establish draw-in groove K in image ₁, K ₂, K ₃, K ₄, K ₅, K ₆the horizontal ordinate of intermediate rectangular hole central point is from left to right respectively x ₁, x ₂, x ₃, x ₄, x ₅, x ₆, unit is pixel, $x_1=-\frac{l_3^{\&prime;}}{2}-l_2^{\&prime;}-l_1^{\&prime;},x_2=-\frac{l_3^{\&prime;}}{2}-l_2^{\&prime;},x_3=-\frac{l_3^{\&prime;}}{2},x_4=\frac{l_3^{\&prime;}}{2},x_5=\frac{l_3^{\&prime;}}{2}+l_4^{\&prime;},x_6=\frac{l_3^{\&prime;}}{2}+l_4^{\&prime;}+l_5^{\&prime;}.$

(4) by template matching method, determine the position that Notebook Battery should be laid

At mechanical arm J ₁before laying battery, reverse the CCD camera of platform top and all can image be processed reversing platform photographic images, result of calculation is still stored in respectively to array F ₂in [f],

wherein f is integer, f=-199, and-198 ... 0,1,2 ..., 198, or 199 values successively, when f meets following condition: F ₂[f+2]-F ₂[f]>=15 & & F ₂[f+2]>=25 & & F ₂[f]≤5, show that first rising edge that image detected, along coordinate, stops the assignment to f, note down current horizontal ordinate f, and make E=f with variable E, when f gets all over being discontented with foot after all values, state condition: F ₂[f+2]-F ₂[f]>=15 & & F ₂[f+2]>=25 & & F ₂[f]≤5 o'clock, store in variable E 0, i.e. E=0, by E respectively with x ₁, x ₂, x ₃, x ₄, x ₅, x ₆compare, if

wherein ε is error threshold, and ε=3, shows draw-in groove K ₁placing battery not, now PLC controls mechanical arm J ₁the battery of absorption is put into draw-in groove K ₁; If

show draw-in groove K ₂placing battery not, now PLC controls mechanical arm J ₁the battery of absorption is put into draw-in groove K ₂; If

show draw-in groove K ₃placing battery not, now PLC controls mechanical arm J ₁by the first Rotate 180 degree of the battery of drawing, then put into draw-in groove K ₃; If

show draw-in groove K ₄placing battery not, now PLC controls mechanical arm J ₁by the first Rotate 180 degree of the battery of drawing, then put into draw-in groove K ₄; If

show draw-in groove K ₅placing battery not, now PLC controls mechanical arm the battery of absorption is put into draw-in groove K ₅; If

show draw-in groove K ₆placing battery not, now PLC controls mechanical arm J ₁the battery of absorption is put into draw-in groove K ₆; If E=0, shows that 6 draw-in grooves have all put battery, execution step three;

Step 3: by twist mechanism, Notebook Battery both positive and negative polarity is docked to arrangement successively

When 6 draw-in grooves are all after placing battery, PLC controls the twist mechanism reversing on platform, makes K ₁, K ₂around Z ₁axle is rotated counterclockwise 180 degree, makes K simultaneously ₅, K ₆around Z ₂axle is rotated counterclockwise 180 degree, now, and mechanical arm J ₂after six joint Notebook Batterys after reversing are captured simultaneously, be placed in the note book battery box on tooling platform V and assemble.

Claims (5)

1. for vision-based detection and the control method of Notebook Battery automatic Composition, it is characterized in that, respectively directly over production line station A and battery draw-in groove K ₃and K ₄cCD camera C is installed directly over centre ₁with CCD camera C ₂, on the torsion platform B of parallel and production line, six battery draw-in groove K are set ₁, K ₂, K ₃, K ₄, K ₅, K ₆, and tool hand J ₁with mechanical arm J ₂, the centre bottom of six battery draw-in grooves is offered rectangle hole, places respectively the white visible light source irradiating, battery draw-in groove K below each battery draw-in groove upward ₁and K ₂connect as one battery draw-in groove K ₃and K ₄connect as one battery draw-in groove K ₅and K ₆connect as one, at draw-in groove K ₃the lower left corner arranges a turning axle Z perpendicular to reversing platform B ₁, at K ₄the upper right corner arranges a turning axle Z perpendicular to reversing platform B ₂, K ₂and K ₃through turning axle Z ₁be connected, make K ₁, K ₂can be around Z ₁be rotated counterclockwise 180 degree, K ₄and K ₅through turning axle Z ₂be connected, K ₅, K ₆can be around Z ₂be rotated counterclockwise 180 degree, concrete steps are as follows:

Step 1: utilize CCD camera C ₁take pictures and extract centre coordinate and the directional information of the Notebook Battery at station A place on production line, and control mechanical arm J ₁capture battery

(1) adopt a kind of improved Roberts edge algorithms to detect the edge of notebook cell image;

(2) pass through the polar angle θ of the column axis of the above-mentioned station A of Hough transformation calculations place Notebook Battery;

(3) coordinate conversion

By original coordinate system iO ₁any point coordinate in j [i, j] is transformed into i ' O in new coordinate system ₁j ', and calculate its new coordinate figure [i ', j '], specific formula for calculation is as follows:

First, when

time, by original coordinate system iO ₁j is around an O ₁be rotated counterclockwise

angle is set up new for O ₁rectangular coordinate system i ' O for initial point ₁j ',

, $\left\{\begin{array}{c}{i}^{\&prime;}=\sqrt{i^2+j^2}\cos (\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2})\\ j^{\&prime;}=\sqrt{i^2+j^2}\sin (\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2})\end{array}\right.,$

Wherein, i ', j ' is respectively coordinate system i ' O ₁the horizontal stroke of j ' mid point, ordinate value, and i ', j ' is natural number, i '=-399 ,-398 ... 0,1,2 ..., 398, or 399, j '=-299 ,-298 ..., 0,1,2 ..., 298, or 299, and the horizontal ordinate i of point equals at 0 o'clock,

when the horizontal ordinate i of point is not equal to 0, $\mathrm{\&beta;}={\arctan }^{-1}\frac{j}{i},$

When

time, by original coordinate system iO ₁j is around an O ₁be rotated counterclockwise

angle is set up new for O ₁rectangular coordinate system i ' O for initial point ₁j ',

, $\left\{\begin{array}{c}{i}^{\&prime;}=\sqrt{i^2+j^2}\cos (\mathrm{\&beta;}-\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2})\\ j^{\&prime;}=\sqrt{i^2+j^2}\sin (\mathrm{\&beta;}-\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2})\end{array}\right.,$

(4) calculate above-mentioned station A place Notebook Battery center point coordinate

First, at original coordinate system iO ₁in j, the image gathering is carried out to Threshold segmentation binary conversion treatment, obtain the gray-scale value B of binary image ₁[i, j],

i ₁[i, j] is the gray-scale value of the original image of collection, and T is the binarization segmentation threshold value of barrier and background, T=210, I ₁the gray-scale value of capable, the j row pixel of i in the original image that [i, j] representative gathers, i=0,1,2 ..., 398, or 399, j=0,1,2 ..., 298, or 299, and the point that binaryzation in coordinate system is not processed is all set to 0,

Then, by the gray-scale value B of image after binaryzation ₁[i, j], at coordinate system i ' O ₁in j ', respectively to projection on i ' axle and j ' axle, determine the coordinate J of battery central point on i ' axle and j ' axle _x' and J _y', concrete steps are as follows:

1) by the gray-scale value B of image after binaryzation ₁[i, j], to projection on i ' axle, calculates the gray-scale value sum that each parallel with j ' axle lists all pixels, and result of calculation is stored in respectively to array F ₁in [f], when time, $F_1\left[f\right]=\underset{i^{\&prime;}=-r_1}{\overset{0}{\mathrm{\&Sigma;}}}{B}_1[f,i^{\&prime;}],$ Wherein $r_1=400\&times;\cos (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;}),$ M ₁=300 * cos θ, n ₁=300 * cos θ, and r ₁, m ₁, n ₁adopt respectively rounding-off method to round numerical value, f is from-m ₁value is to n successively ₁; When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $F_1\left[f\right]=\underset{i^{\&prime;}=-m}{\overset{n}{\mathrm{\&Sigma;}}}{B}_1[f,i^{\&prime;}],$ Wherein $r_1=500\&times;\cos (\mathrm{\&beta;}-\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2}),$ M ₁=400 * cos (π-θ),

and r ₁, m ₁, n ₁adopt respectively rounding-off method to round numerical value, f from 0 successively value to r ₁;

2) by the gray-scale value B of image after binaryzation ₁[i, j], to projection on j ' axle, calculates the gray-scale value sum of all pixels in every a line parallel with i ' axle, and result of calculation is stored in respectively to array H ₁in [h], when

time, $H_1\left[h\right]=\underset{i^{\&prime;}={-m}_2}{\overset{n_2}{\mathrm{\&Sigma;}}}{B}_1(i^{\&prime;},h),$ Wherein $r_2=500\&times;\cos (\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),m_2=400\&times;\cos (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;}),$ N ₂=300 * cos θ, and r ₂, m, n adopt respectively rounding-off method to round numerical value, h from 0 successively value to r ₂; When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $H_1\left[h\right]=\underset{i^{\&prime;}=0}{\overset{r_2}{\mathrm{\&Sigma;}}}{B}_1(i^{\&prime;},h),$ Wherein $r_2=500\&times;\cos (\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),$ M ₂=400 * cos (π-θ),

and r ₂, m ₂, n ₂adopt respectively rounding-off method to round numerical value, h is from-m ₂value is to n successively ₂,

3) at coordinate system i ' O ₁in j ', adopt two ends detection method, determine the abscissa value on the left and right border of Notebook Battery on i ' direction of principal axis, and by result store at variable J _l', J _r' in, the ordinate value on the upper and lower border of determining is stored in to variable K ' on j ' direction of principal axis simultaneously _uand K ' _din, concrete steps are as follows:

A) f is according to f=-400, and-399 ..., 0,1,2,399,400 values successively, when f meets following condition: F ₁[f+2]-F ₁[f]>=15 & & F ₁[f+2]>=25 & & F ₁[f]≤5, show to have detected the left margin of Notebook Battery, use variable J _l' note down current horizontal ordinate f, and make J _l'=f, continues to f assignment, when f meets following condition: F ₁[f]-F ₁[f+2]>=15 & & F ₁[f]>=25 & & F ₁[f+2]≤5, show to have detected the right margin of Notebook Battery, use variable J _r' note down current horizontal ordinate f, and make J _r'=f,

B) h is according to h=-300, and-299 ... 0,1,2 ... 299,300 values successively, when h meets following condition: H ₁[h+2]-H ₁[h]>=15 & & H ₁[h+2]>=25 & & H ₁[h]≤5, show to have detected the lower boundary of Notebook Battery, with variable K ' _dnote down current horizontal ordinate h, and make K ' _d=h, continues to h assignment, when h meets following condition: H ₁[h]-H ₁[h+2]>=15 & & H ₁[h]>=25 & & H ₁[h+2]≤5, show to have detected the coboundary of Notebook Battery, with variable K ' _unote down current horizontal ordinate h, and make K ' _u=h,

C) calculate the horizontal ordinate C ' of Notebook Battery central point _{i '}with ordinate C ' _{j '}, C ' _{i '}=(J _l'+J _r')/2, C ' _{j '}=(K ' _u+ K ' _d)/2,

(5) determine the position of Notebook Battery positive pole and negative pole

If F[J _l'] > F[J _r'], Notebook Battery negative pole is at coordinate system i ' O ₁the middle abscissa value of j ' is J _l', anodal abscissa value is J _r'; If F[J _l'] < F[J _r'], Notebook Battery positive pole is at coordinate system i ' O ₁the middle abscissa value of j ' is J _l', negative pole abscissa value is J _r',

(6) according to Notebook Battery central point at coordinate system i ' O ₁horizontal stroke under j ', ordinate value, calculate at iO ₁horizontal stroke under j coordinate system, ordinate value, computing formula is as follows:

When $0\&le;\mathrm{\&theta;}<\frac{\mathrm{\&pi;}}{2}$ Time, $\left\{\begin{array}{c}{C}_i=\sqrt{{C_{i^{\&prime;}}}^2+{C_{j^{\&prime;}}}^2}\cos ({\mathrm{\&beta;}}^{\&prime;}+\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2})\\ C_j=\sqrt{{C_{i^{\&prime;}}}^2+{C_{j^{\&prime;}}}^2}\sin ({\mathrm{\&beta;}}^{\&prime;}+\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2})\end{array}\right.$

When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $\left\{\begin{array}{c}{C}_i=\sqrt{{C_{i^{\&prime;}}}^2+{C_{j^{\&prime;}}}^2}\cos ({\mathrm{\&beta;}}^{\&prime;}+\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2})\\ C_j=\sqrt{{C_{i^{\&prime;}}}^2+{C_{j^{\&prime;}}}^2}\sin ({\mathrm{\&beta;}}^{\&prime;}+\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2})\end{array}\right.$

Wherein, C _{i '}and C _{j '}be respectively at new rectangular coordinate system i ' O ₁horizontal stroke, the ordinate value of definite Notebook Battery central point in j ', as horizontal ordinate C _{i '}equal at 0 o'clock,

as horizontal ordinate C _{i '}be not equal at 0 o'clock, ${\mathrm{\&beta;}}^{\&prime;}={\arctan }^{-1}\frac{C_{j^{\&prime;}}}{C_{i^{\&prime;}}},$

(7) control mechanical arm J ₁capture Notebook Battery

First, PLC controls mechanical arm J ₁to specified coordinate position, i.e. Notebook Battery center C (C _i, C _j), and control magnetic chuck X ₁the long the longest limit MN of rib vertical with torsion platform B horizontal center line ST, MN and L ₁l ₂parallel, when

time, PLC controls mechanical arm and is rotated counterclockwise θ angle and declines 10 centimetres, and then magnetic chuck powers on and captures battery and rise 10 centimetres, now, if F[J _l'] > F[J _r'], control turn clockwise θ angle decline 10 centimetres of mechanical arm, then magnetic chuck power-off is put into Notebook Battery to reverse on platform, if F[J _l'] < F[J _r'], control mechanical arm and be rotated counterclockwise π-θ angle and decline 10 centimetres, then magnetic chuck power-off is put into Notebook Battery to reverse on platform; When

time, control turn clockwise π-θ angle decline 10 centimetres of mechanical arm, then magnetic chuck powers on and captures battery and rise 10 centimetres, now, if F[J _l'] > F[J _r'], control mechanical arm and be rotated counterclockwise π-θ angle and decline 10 centimetres, then magnetic chuck power-off is put into Notebook Battery to reverse on platform, if F[J _l'] < F[J _r'], control turn clockwise θ angle decline 10 centimetres of mechanical arm, then magnetic chuck power-off is put into Notebook Battery to reverse on platform;

Step 2: utilize CCD camera C ₂take and reverse six draw-in groove centre bottom rectangle hole images on platform, by image processing algorithm, determine position and the positive and negative electrode direction that Notebook Battery should be placed

(1) image is carried out to binary conversion treatment

With CCD camera C ₂take the image that reverses upper six draw-in grooves of platform B, with CCD camera C ₂the central point O of the image of taking ₂for initial point is set up rectangular coordinate system, the image of taking is carried out to Threshold segmentation binary conversion treatment, obtain the gray-scale value B of binary image ₂[i, j], i ₂[i, j] is CCD camera C ₂the i that gathers image is capable, the gray-scale value of j row pixel, T ₂for the white visible ray that sends from draw-in groove central rectangular aperture hole and the binarization segmentation threshold value of background, T ₂=200, i, j is natural number, and i=-199, and-198 ..., 0,1,2 ..., 198, or 199, j=-149 ,-148 ..., 0,1,2 ..., 148, or 149,

(2) image is carried out to noise remove and connective processing

First, the gray-scale value of pixel on image edge is set to 0, then adopts 3 * 3 detection window traversal entire image, the gray-scale value that makes detection window central point is B ₂[i, j], the central point around gray-scale value of 8 neighborhood points is respectively B in a clockwise direction from the upper left corner ₂[i-1, j+1], B ₂[i, j+1], B ₂[i+1, j+1], B ₂[i+1, j], B ₂[i+1, j-1], B ₂[i, j-1], B ₂[i-1, j-1], B ₂[i-1, j],

Allow 3 * 3 detection window travel through successively entire image, the gray-scale value of the pixel under calculation window covers, if B ₂[i, j]+B ₂[i-1, j+1]+B ₂[i, j+1]+B ₂[i+1, j+1]+B ₂[i+1, j]+B ₂[i+1, j-1]+B ₂[i, j-1]+B ₂[i-1, j-1]+B ₂[i-1, j]≤3, make B ₂[i, j]=1, otherwise, B made ₂[i, j]=0,

Secondly, the image of removing after noise is carried out to horizontal projection

The gray-scale value of removing each pixel listing of image after noise is added, result of calculation is stored in respectively to array F ₂in [f],

wherein f is integer, f=-199, and-198 ..., 0,1,2 ..., 198, or 199,

(3) Notebook Battery central point horizontal ordinate in computed image;

(4) by template matching method, determine the position that Notebook Battery should be laid

At mechanical arm J ₁before laying battery, reverse the CCD camera of platform top and all can image be processed reversing platform photographic images, result of calculation is still stored in respectively to array F ₂in [f],

wherein f is integer, f=-199, and-198 ... 0,1,2 ..., 198, or 199 values successively, when f meets following condition: F ₂[f+2]-F ₂[f]>=15 & & F ₂[f+2]>=25 & & F ₂[f]≤5, show that first rising edge that image detected, along coordinate, stops the assignment to f, note down current horizontal ordinate f, and make E=f with variable E, when f gets all over being discontented with foot after all values, state condition: F ₂[f+2]-F ₂[f]>=15 & & F ₂[f+2]>=25 & & F ₂[f]≤5 o'clock, store in variable E 0, i.e. E=0, by E respectively with x ₁, x ₂, x ₃, x ₄, x ₅, x ₆compare, if

wherein ε is error threshold, and ε=3, shows draw-in groove K ₁placing battery not, now PLC controls mechanical arm J ₁the battery of absorption is put into draw-in groove K ₁; If

show draw-in groove K ₂placing battery not, now PLC controls mechanical arm J ₁the battery of absorption is put into draw-in groove K ₂; If

show draw-in groove K ₃placing battery not, now PLC controls mechanical arm J ₁by the first Rotate 180 degree of the battery of drawing, then put into draw-in groove K ₃; If

show draw-in groove K ₄placing battery not, now PLC controls mechanical arm J ₁by the first Rotate 180 degree of the battery of drawing, then put into draw-in groove K ₄; If

show draw-in groove K ₅placing battery not, now PLC controls mechanical arm the battery of absorption is put into draw-in groove K ₅; If show draw-in groove K ₆placing battery not, now PLC controls mechanical arm J ₁the battery of absorption is put into draw-in groove K ₆; If E=0, shows that six draw-in grooves have all put battery, execution step three;

Step 3: by twist mechanism, Notebook Battery both positive and negative polarity is docked to arrangement successively

When six draw-in grooves are all after placing battery, PLC controls the twist mechanism reversing on platform, makes K ₁, K ₂around Z ₁axle is rotated counterclockwise 180 degree, makes K simultaneously ₅, K ₆around Z ₂axle is rotated counterclockwise 180 degree, now, and mechanical arm J ₂after six joint Notebook Batterys after reversing are captured simultaneously, be placed in the note book battery box on tooling platform V and assemble.

2. the vision-based detection for Notebook Battery automatic Composition as claimed in claim 1 and control method, is characterized in that: CCD camera C ₁be responsible for the collection of Notebook Battery image on production line, CCD camera C ₂be responsible for reversing the collection of upper six draw-in grooves of platform B and center white visible images thereof, mechanical arm J ₁with mechanical arm J ₂end is respectively with cuboid groove shape magnetic chuck X ₁and X ₂, mechanical arm J ₁be responsible for a batteries after production line captures and be put in the draw-in groove reversing on platform mechanical arm J ₂after being responsible for six batteries on torsion retrotorsion platform B to capture together, be placed in the battery case of notebook, battery case is placed on and reverses on the other tooling platform V of platform B.

3. the vision-based detection for Notebook Battery automatic Composition as claimed in claim 1 and control method, is characterized in that: described in (1) of step 1, adopt improved Roberts edge algorithms to detect the edge of notebook cell image, concrete steps are as follows:

First, with CCD camera C ₁taking the image of production line station A place Notebook Battery, is initial point O at the lower-left point of image ₁set up rectangular coordinate system iO ₁j, adopts 3 * 3 whole image of detection window traversal, in 8 connected pixel neighborhoods, and difference calculated level direction, vertical direction, the Grad in 135 degree directions and 45 degree directions, wherein, the Grad in horizontal direction is: P ₀[i, j]=| I ₁[i-1, j]-I ₁[i+1, j] |, the Grad in vertical direction is: P ₉₀[i, j]=| I ₁[i, j-1]-I ₁[i, j+1] |, the Grad in 135 degree directions is: P ₁₃₅[i, j]=| 2 * (I ₁[i-1, j-1]-I ₁[i+1, j+1]) |, the Grad in 45 degree directions is: P ₄₅[i, j]=| 2 * (I ₁[i+1, j-1]-I ₁[i-1, j+1]) |, I in formula ₁the gray-scale value of capable, the j row pixel of i in the original image that [i, j] representative gathers, i=0,1,2 ..., 398, or 399, j=0,1,2 ..., 298, or 299,

Secondly, calculate total Grad M[i in 8 connected pixel neighborhoods, j], M[i, j]=P ₀[i, j]+P ₉₀[i, j]+P ₁₃₅[i, j]+P ₄₅[i, j], and itself and the threshold tau of setting are compared, obtain the gray-scale value C[i of binaryzation back edge image, j], $C[i,j]=\left\{\begin{array}{c}1,M[i,j]>\mathrm{\&tau;}\\ 0,M[i,j]\&le;\mathrm{\&tau;}\end{array}\right.,$ Wherein, the selected threshold that τ is marginal point, and τ=6.

4. the vision-based detection for Notebook Battery automatic Composition as claimed in claim 1 and control method, it is characterized in that: described in (2) of step 1, pass through the polar angle θ of the column axis of the above-mentioned station A of Hough transformation calculations place Notebook Battery, concrete steps are as follows:

First, will be with O ₁for the rectangular coordinate system of initial point changes into O ₁for the polar coordinate system of initial point, establishing ρ is utmost point footpath, and α is polar angle, and ρ and α are natural number, and ρ equals 0,1 ..., 498, or 499, α equals 0,1 ..., 178, or 179, a discrete parameter space between its maximal value and minimum value, set up respectively;

Secondly, set up the totalizer N[ρ of a two-dimensional array] [α], in juxtaposition array, each element is 0;

Then, each marginal point in edge image C [i, j], the pixel that edge image gray-scale value is 1, does Hough conversion, calculates this corresponding curve in polar coordinate system, and adds 1 on corresponding totalizer, i.e. N[ρ] [α]=N[ρ] [α]+1,

Finally, find out the local maximum of the totalizer of collinear point on correspondence (x, y) coordinate system, this value provides the parameter (ρ of collinear point straight line on (x, y) coordinate plane ₀, α ₀), α ₀be the polar angle of the straight line that collinear point are maximum, because the length of two crest line HR of battery and GP is the longest, therefore, the line segment that collinear point are maximum must be in HR or GP, again because HR is parallel with GP, again with battery post body axis L ₁l ₂parallel, therefore, battery post body axis L ₁l ₂polar angle θ=α ₀.

5. the vision-based detection for Notebook Battery automatic Composition as claimed in claim 1 and control method, is characterized in that: Notebook Battery central point horizontal ordinate in computed image described in (3) of step 2, and concrete steps are as follows:

F is according to f=-199, and-198 ... 0,1,2 ..., 198, or 199 values successively, when f meets following condition: F ₂[f+2]-F ₂[f]>=15 & & F ₂[f+2]>=25 & & F ₂[f]≤5, show that the rising edge for the first time that image detected, along coordinate, notes down current horizontal ordinate f with variable G, and make G=f, continue to f assignment, when f meets following condition: F ₂[f]-F ₂[f+2]>=15 & & F ₂[f]>=25 & & F ₂[f+2]≤5, show that the trailing edge for the first time that image detected, along coordinate, stops the assignment to f, note down current horizontal ordinate f, and make G '=f, Notebook Battery rectangle draw-in groove K with variable G ' ₄intermediate rectangular hole is width value d in image ₀'=G '-G, unit is pixel, utilizing ruler directly to measure Notebook Battery rectangle draw-in groove intermediate rectangular hole width is d ₀, draw-in groove K ₁and K ₂distance between intermediate rectangular hole center is l ₁, draw-in groove K ₂and K ₃distance between intermediate rectangular hole center is l ₂, draw-in groove K ₃and K ₄distance between intermediate rectangular hole center is l ₃, draw-in groove K ₄and K ₅distance between intermediate rectangular hole center is l ₄, draw-in groove K ₅and K ₆distance between intermediate rectangular hole center is l ₅, d ₀, l ₁, l ₂, l ₃, l ₄and l ₅unit be millimeter; Known as calculated, draw-in groove K in image ₁and K ₂distance between intermediate rectangular hole center

draw-in groove K ₂and K ₃distance between intermediate rectangular hole center

draw-in groove K ₃and K ₄distance between intermediate rectangular hole center

draw-in groove K ₄and K ₅distance between intermediate rectangular hole center

draw-in groove K ₅and K ₆distance between intermediate rectangular hole center

l ₁', l ₂', l ₃', l ₄', l ₅' unit be pixel, and round off method is to l ₁', l ₂', l ₃', l ₄', l ₅' round, establish draw-in groove K in image ₁, K ₂, K ₃, K ₄, K ₅, K ₆the horizontal ordinate of intermediate rectangular hole central point is from left to right respectively x ₁, x ₂, x ₃, x ₄, x ₅, x ₆, unit is pixel, $x_1=-\frac{l_3^{\&prime;}}{2}-l_2^{\&prime;}-l_1^{\&prime;},x_2=-\frac{l_3^{\&prime;}}{2}-l_2^{\&prime;},x_3=-\frac{l_3^{\&prime;}}{2},x_4=\frac{l_3^{\&prime;}}{2},x_5=\frac{l_3^{\&prime;}}{2}+l_4^{\&prime;},x_6=\frac{l_3^{\&prime;}}{2}+l_4^{\&prime;}+l_5^{\&prime;}.$

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