CN103745471B - A kind of vision-based detection for the automatic mounted box of Notebook Battery and control method - Google Patents

Abstract

The invention discloses a kind of vision-based detection for the automatic mounted box of Notebook Battery and control method, it is characterized in that utilizing the CCD camera that is arranged on transport tape top to take Notebook Battery image, use visual detection algorithm, determine particular location and the direction of Notebook Battery on transport tape, and then control robot movement captures Notebook Battery, then, utilize the CCD camera that reverses platform top to take the visible images sending from Battery Card groove center rectangle hole, utilize image processing algorithm, determine the position of groove and the placement direction of both positive and negative polarity that current battery will be put, pass through twist mechanism, Notebook Battery both positive and negative polarity is docked to arrangement successively, finally by manipulator, the Notebook Battery arranging is packed in battery case automatically. the present invention utilizes vision-based detection principle, has method simple, and accuracy of detection is high, the advantage that controlling unit automaticity is high.

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 automation of scattered synthetic rapid-assembling is rawProduce line, belong to Electromechanical Control field.

Background technology

Along with the development of world's industry and commerce process, the same society's life falling behind of material and cultural needs that the mankind are growingContradiction between product increases day by day, the scientific and technological progress of entering to determine society. The gusher formula of the notebook of various brands goes outExisting, the competition of aggravation Liao Ge businessman. Improve the quality of products, speed production efficiency and will determine that businessman obtains initiatively in competition.

Find through retrieval, the assembling of current domestic Notebook Battery is handwork substantially, and the master that handwork existsWant problem to have: production efficiency is low and quality is unstable, in addition owing to a large amount of repeating, dull operation can make people feel uninteresting,, very easily there is loading error in fatigue. Not only can affect the quality of battery if made a mistake, also can produce after after sale unnecessaryReally. And the expensive of nowadays manpower work is also the unmodifiable fact.

Summary of the invention

The object of the invention is to overcome the domestic deficiency taking handwork as main Notebook Battery assemble method, provide oneKind utilize vision-based detection principle, method simple, detect accurate high, controlling unit automaticity high for Notebook Battery fromVision-based detection and the control method of moving mounted box.

Concrete technical scheme of the present invention is as follows:

For vision-based detection and the control method of Notebook Battery automatic Composition, the method concrete steps are as follows:

Respectively directly over production line station A and battery draw-in groove K₃And K₄CCD camera C is installed directly over centre₁And CCDCamera C₂, on the torsion platform B of parallel and production line, six battery draw-in groove K are set₁，K₂，K₃，K₄，K₅，K₆, and manipulator J₁With manipulator J₂, the centre bottom of six battery draw-in grooves is offered rectangle hole, below each battery draw-in groove, places upward respectivelyThe white visible light source irradiating, battery draw-in groove K₁And K₂Connect as one battery draw-in groove K₃And K₄Connect as one battery draw-in groove K₅And K₆Connect as one, at draw-in groove K₃The lower left corner arranges a rotating shaft Z perpendicular to reversing platform B₁, at K₄The upper right corner is perpendicular to torsionPlatform B arranges a rotating shaft Z₂，K₂And K₃Through rotating shaft Z₁Be connected, make K₁，K₂Can be around Z₁Be rotated counterclockwise 180 degree, K₄And K₅Through revolvingRotating shaft Z₂Be connected, K₅，K₆Can be around Z₂Be rotated counterclockwise 180 degree, concrete steps are as follows:

Step 1: utilize CCD camera C₁Take pictures extract the Notebook Battery at station A place on production line centre coordinate andDirectional information, and control manipulator J₁Capture battery

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

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

(3) Coordinate Conversion

By original coordinate system iO₁Any point coordinate [i, j] in j is transformed into i ' O in new coordinate system₁J ', and calculate that it is newCoordinate figure [i ', j '], specific formula for calculation is as follows:

First, whenTime, by original coordinate system iO₁J is around an O₁Be rotated counterclockwiseAngle set up new withO₁For the rectangular coordinate system i ' O of initial point₁j′，

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

Wherein, i ', j ' is respectively coordinate system i ' O₁The horizontal stroke of j ' mid point, ordinate value, and i ', j ' is natural number, i '=-399 ,-398, L0,1,2, L, 398, or 399, j '=-299 ,-298, L, 0,1,2, L, 298, or 299, and the abscissa i of pointEqual at 0 o'clock,In the time that the abscissa i of point is not equal to 0, $\mathrm{\β}={\arctan }^{-1}\frac{j}{i},$

WhenTime, by original coordinate system iO₁J is around an O₁Be rotated counterclockwiseAngle is set up new for O₁ForRectangular coordinate system i ' the O of initial point₁j′，

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

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

First, at original coordinate system iO₁In j, the image gathering is carried out to Threshold segmentation binary conversion treatment, obtain two-valueChange the gray value B of image₁[i,j]，I₁[i, j] is the gray scale of the original image of collectionValue, T is the binarization segmentation threshold value of barrier and background, T=210, I₁In the original image that [i, j] representative gathers i capable, theThe gray value of j row pixel, i=0,1,2, L, 398, or 399, j=0,1,2, L, 298, or 299, and by binaryzation in coordinate systemThe point of not processing is all set to 0,

Then, by the gray value B of image after binaryzation₁[i, j], at coordinate system i ' O₁In j ' respectively on i ' axle and j ' axleProjection, determines the coordinate J ' of battery central point on i ' axle and j ' axle_xAnd J '_y, concrete steps are as follows:

1) by the gray value B of image after binaryzation₁[i, j], to projection on i ' axle, calculates each parallel with j ' axle and lists allThe gray value sum of pixel, is stored in respectively array F by result of calculation₁In [f], whenTime, $F_1\&lsqb;f\&rsqb;=\underset{i^{\&prime;}=-r_1}{\overset{0}{\&Sigma;}}{B}_1\&lsqb;f,i^{\&prime;}\&rsqb;,$ Wherein $r_1=400\&times;cos(\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;}),$ m₁＝300×cosθ，n₁=300 × cos θ, and r₁、m₁、n₁Adopt respectively rounding-off method to getInteger value, f is from-m₁Value is to n successively₁; When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $F_1\&lsqb;f\&rsqb;=\underset{i^{\&prime;}=-m}{\overset{n}{\&Sigma;}}{B}_1\&lsqb;f,i^{\&prime;}\&rsqb;,$ Wherein $r_1=500\&times;cos(\mathrm{\&beta;}-\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2}),$ m₁＝400×cos(π-θ)，And r₁、m₁、n₁Adopt respectively rounding-off method to round numerical value, f is from 0Value is to r successively₁；

2) by the gray value B of image after binaryzation₁[i, j], to projection on j ' axle, calculates in every a line parallel with i ' axle allThe gray value sum of pixel, is stored in respectively array H by result of calculation₁In [h], whenTime, $H_1\&lsqb;h\&rsqb;=\underset{i^{\&prime;}=-m_2}{\overset{n_2}{\&Sigma;}}{B}_1(i^{\&prime;},h),$ Wherein $r_2=500\&times;cos(\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),m_2=400\&times;cos(\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;}),$ n₂=300 × cos θ, and r₂, m, n adopt respectively fourHouse five enters method and rounds numerical value, h from 0 successively value to r₂; When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $H_1\&lsqb;k\&rsqb;=\underset{i^{\&prime;}=0}{\overset{r_2}{\&Sigma;}}{B}_1(i^{\&prime;},k),$ Wherein $r_2=500\&times;cos(\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),$ m₂＝400×cos(π-θ)，And r₂、m₂、n₂Adopt respectivelyRounding-off method rounds numerical value, and h is from-m₂Value is to n successively₂，

3) at coordinate system i ' O₁In j ', adopt two ends detection methods, determine left and right on i ' direction of principal axis of Notebook BatteryThe abscissa value on border, and by result store at variable J '_L、J′_RIn, simultaneously by the upper and lower border of determining on j ' direction of principal axisOrdinate value is stored in variable K '_UAnd K '_DIn, concrete steps are as follows:

A) f is according to f=-400 ,-399, L, and 0,1,2,399,400 values successively, in the time that f meets following condition: F₁[f+2]-F₁[f]≥15&&F₁[f+2]≥25&&F₁[f]≤5, show to have detected the left margin of Notebook Battery, use variableJ′_LNote down current abscissa f, and make J '_L=f, continues to f assignment, when f meets following condition: F₁[f]-F₁[f+2]≥15&&F₁[f]≥25&&F₁[f+2]≤5, show to have detected the right margin of Notebook Battery, with variable J '_RNote down currentAbscissa f, and make J '_R＝f，

B) h is according to h=-300 ,-299, L0, and 1,2, L299,300 values successively, when h meets following condition: H₁[h+2]-H₁[h]≥15&&H₁[h+2]≥25&&H₁[h]≤5, show to have detected the lower boundary of Notebook Battery, use variableK′_DNote down current abscissa h, and make K '_D=h, continues to h assignment, when h meets following condition: H₁[h]-H₁[h+2]≥15&&H₁[h]≥25&&H₁[h+2]≤5, show to have detected the coboundary of Notebook Battery, with variable K '_UNote down currentAbscissa h, and make K '_U＝h，

C) the abscissa C ' of calculating 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 the anodal and negative pole of Notebook Battery

If F[J '_L]>F[J′_R], Notebook Battery negative pole is at coordinate system i ' O₁The middle abscissa value of j ' is J '_L, anodal horizontal seatScale value is J '_R; If F[J '_L]<F[J′_R], Notebook Battery positive pole is at coordinate system i ' O₁The middle abscissa value of j ' is J '_L, negative pole horizontal strokeCoordinate figure is J '_R，

(6) according to Notebook Battery central point at coordinate system i ' O₁Horizontal stroke under j ', ordinate value, calculate at iO₁J coordinate systemUnder horizontal stroke, 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 ' O₁The horizontal stroke of definite Notebook Battery central point, vertical in j 'Coordinate figure, as abscissa C_i′Equal at 0 o'clock,As abscissa C_i′Be not equal at 0 o'clock, ${\mathrm{\&beta;}}^{\&prime;}={\arctan }^{-1}\frac{C_{j^{\&prime;}}}{C_{i^{\&prime;}}},$

(7) control manipulator J₁Capture Notebook Battery

First, PLC controls manipulator J₁To specified coordinate position, i.e. Notebook Battery center C (C_i,C_j), and controlMagnetic chuck X₁The long the longest limit MN of rib vertical with torsion platform B horizontal center line ST, MN and L₁L₂Parallel, whenTime, PLC controls manipulator and is rotated counterclockwise θ angle and declines 10 centimetres, then the magnetic chuck crawl battery that powers onAnd rise 10 centimetres, and now, if F[J '_L]>F[J′_R], control turn clockwise θ angle decline 10 centimetres of manipulator, thenMagnetic chuck power-off is put into Notebook Battery to reverse on platform, if F[J '_L]<F[J′_R], control manipulator and be rotated counterclockwise π-θAngle also declines 10 centimetres, and then magnetic chuck power-off is put into Notebook Battery to reverse on platform; WhenTime, controllerTurn clockwise π-θ angle decline 10 centimetres of tool hand, then magnetic chuck powers on and captures battery and rise 10 centimetres, now,If F[J '_L]>F[J′_R], control manipulator and be rotated counterclockwise π-θ angle and decline 10 centimetres, then magnetic chuck power-off is by penRemember that this battery is put on torsion platform, if F[J '_L]<F[J′_R], control turn clockwise θ angle decline 10 centimetres of manipulator,Then magnetic chuck power-off is put into Notebook Battery to reverse on platform;

Step 2: utilize CCD camera C₂Take and reverse six draw-in groove centre bottom rectangle hole images on platform, by figureDetermine as Processing Algorithm 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 C₂Take the image that reverses upper six draw-in grooves of platform B, with CCD camera C₂The center of the image of takingPoint O₂For initial point is set up rectangular coordinate system, the image of taking is carried out to Threshold segmentation binary conversion treatment, obtain binary imageGray value B₂[i,j]，I₂[i, j] is CCD camera C₂The i that gathers image is capable,The gray value of j row pixel, T₂For the white visible ray that sends from draw-in groove central rectangular aperture hole and the binarization segmentation threshold of backgroundValue, T₂=200, i, j is natural number, and i=-199 ,-198, L, 0,1,2, L, 198, or 199, j=-149 ,-148, L, 0,1,2, L, 148, or 149,

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

First, the gray value of pixel on image edge is set to 0, then adopts 3 × 3 detection window traversal view pictureImage, the gray value that makes detection window central point is B₂[i, j], central point around the gray value of 8 neighborhood points from the upper left corner withBe respectively clockwise B₂[i-1,j+1]、B₂[i,j+1]、B₂[i+1,j+1]、B₂[i+1,j]、B₂[i+1,j-1]、B₂[i,j-1]、B₂[i-1,j-1]、B₂[i-1,j]，

Allow 3 × 3 detection window travel through successively entire image, the gray value of the pixel under calculation window covers, if B₂[i,j]+B₂[i-1,j+1]+B₂[i,j+1]+B₂[i+1,j+1]+B₂[i+1,j]+B₂[i+1,j-1]+B₂[i,j-1]+B₂[i-1,j-1]+B₂[i-1, j]≤3, make B₂[i, j]=1, otherwise, B made₂[i,j]＝0，

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

The gray value of removing each pixel listing of image after noise is added, result of calculation is stored in respectivelyArray F₂In [f],Wherein f is integer, f=-199, and-198, L, 0,1,2, L, 198, or 199,

(3) Notebook Battery central point abscissa in computed image;

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

At manipulator J₁Before laying battery, the CCD camera that reverses platform top all can be to reversing platform photographic images, to figurePicture is processed, and result of calculation is still stored in respectively to array F₂In [f],Wherein f is integer,F=-199 ,-198, L0,1,2, L, 198, or 199 values successively, when f meets following condition: F₂[f+2]-F₂[f]≥15&&F₂[f+2]≥25&&F₂[f]≤5, show that first rising edge that image detected, along coordinate, stops the assignment to f, with becomingAmount E notes down current abscissa f, and makes E=f, states condition: F when f gets all over being discontented with foot after all values₂[f+2]-F₂[f]≥15&&F₂[f+2]≥25&&F₂[f]≤5 o'clock, store in variable E 0, i.e. E=0, by E respectively with x₁、x₂、x₃、x₄、x₅、x₆Compare, ifWherein ε is error threshold, and ε=3, shows draw-in groove K₁Not placing battery, nowPLC controls manipulator J₁The battery of absorption is put into draw-in groove K₁; IfShow draw-in groove K₂Not placing battery,Now PLC controls manipulator J₁The battery of absorption is put into draw-in groove K₂; IfShow draw-in groove K₃Do not placeBattery, now PLC controls manipulator J₁By first the battery of drawing Rotate 180 degree, then put into draw-in groove K₃; IfShow draw-in groove K₄Not placing battery, now PLC controls manipulator J₁The battery of absorption is first rotated180 degree, then put into draw-in groove K₄; IfShow draw-in groove K₅Not placing battery, now PLC controls manipulatorThe battery of absorption is put into draw-in groove K₅; IfShow draw-in groove K₆Not placing battery, now PLC controllerTool hand J₁The battery of absorption is put into draw-in groove K₆; 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 K₁、K₂Around Z₁Axle is counterclockwiseRotate 180 degree makes K simultaneously₅、K₆Around Z₂Axle is rotated counterclockwise 180 degree, now, and manipulator J₂By six joint notebook electricity after reversingPond is placed in the note book battery box on tooling platform V and assembles after capturing simultaneously.

Further design of the present invention is:

CCD camera C₁Be responsible for the collection of Notebook Battery image on production line, CCD camera C₂Be responsible for reversing platform B upper sixThe collection of individual draw-in groove and center white visible images thereof, manipulator J₁With manipulator J₂End is respectively with cuboid grooveShape magnetic chuck X₁And X₂, manipulator J₁Be responsible for a batteries capture rear and be put in the draw-in groove reversing on platform from production line,Manipulator J₂After being responsible for six batteries on torsion retrotorsion platform B to capture together, be placed in the battery case of notebook batteryBox is placed on and reverses on the other tooling platform V of platform B.

Described in (1) of step 1, adopt the edge of improved Roberts edge algorithms detection notebook cell image, toolBody step is as follows:

First, with CCD camera C₁The image of taking production line station A place Notebook Battery, at the lower-left point of image isInitial point O₁Set up rectangular coordinate system iO₁J, adopts 3 × 3 whole image of detection window traversal, in 8 connected pixel neighborhoods, respectivelyCalculated level direction, vertical direction, the Grad in 135 degree directions and 45 degree directions, wherein, the Grad in horizontal directionFor: P₀[i,j]＝|I₁[i-1,j]-I₁[i+1, j] |, the Grad in vertical direction is: P₉₀[i,j]＝|I₁[i,j-1]-I₁[i, j+1] |, the Grad in 135 degree directions is: P₁₃₅[i,j]＝|2×(I₁[i-1,j-1]-I₁[i+1, j+1]) |, 45 degree sidesGrad is upwards: P₄₅[i,j]＝|2×(I₁[i+1,j-1]-I₁[i-1, j+1]) |, I in formula₁It is former that [i, j] representative gathersThe gray value of capable, the j row pixel of i in beginning image, i=0,1,2, L, 398, or 399, j=0,1,2, L, 298, or 299,

Secondly, calculate total Grad M[i in 8 connected pixel neighborhoods, j], M[i, j]=P₀[i,j]+P₉₀[i,j]+P₁₃₅[i,j]+P₄₅[i, j], and itself and the threshold tau of setting are compared, obtain the gray value C[i of binaryzation back edge image, j], $C\&lsqb;i,j\&rsqb;=\left\{\begin{array}{c}1,M\&lsqb;i,j\&rsqb;>\mathrm{\&tau;}\\ 0,M\&lsqb;i,j\&rsqb;\&le;\mathrm{\&tau;}\end{array}\right.,$ Wherein, the selected threshold that τ is marginal point, and τ=6.

Described in (2) of step 1, pass through the utmost point of the column axis of the above-mentioned station A of Hough transformation calculations place Notebook BatteryAngle θ, concrete steps are as follows:

First, will be with O₁For the rectangular coordinate system of initial point changes into O₁For the polar coordinate system of initial point, establishing ρ is utmost point footpath, and α isPolar angle, ρ and α are natural number, and ρ equals 0,1 ..., 498, or 499, α equals 0,1 ..., 178, or 179, respectively in its maximumBetween value and minimum of a value, set up a discrete parameter space;

Secondly, set up the accumulator 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 value is 1, doesHough conversion, calculates this corresponding curve in polar coordinate system, and adds 1, i.e. N[ρ on corresponding accumulator] [α]=N[ρ][α]+1，

Finally, find out the local maximum of the accumulator of collinear points on correspondence (x, y) coordinate system, this value provide (x,Y) parameter (ρ of collinear points straight line on coordinate plane₀,α₀)，α₀Be the polar angle of the straight line that collinear points are maximum, because two, batteryThe length of crest line HR and GP is the longest, and therefore, the line segment that collinear points are maximum must be in HR or GP, again because HR and GP are flatOK, again with battery post body axis L₁L₂Parallel, therefore, battery post body axis L₁L₂Polar angle θ=α₀。

Notebook Battery central point abscissa in computed image described in (3) of step 2, concrete steps are as follows:

F is according to f=-199 ,-198, L0, and 1,2, L, 198, or 199 values successively, when f meets following condition: F₂[f+2]-F₂[f]≥15&&F₂[f+2]≥25&&F₂[f]≤5, show that the rising edge for the first time that image detected is along coordinate,Note down current abscissa f with variable G, and make G=f, continue to f assignment, when f meets following condition: F₂[f]-F₂[f+2]≥15&&F₂[f]≥25&&F₂[f+2]≤5, show that the trailing edge for the first time that image detected, along coordinate, stops composing to fValue, notes down current abscissa f with variable G ', and makes G '=f, Notebook Battery rectangle draw-in groove K₄Intermediate rectangular hole is at figureWidth value d ' in picture₀=G '-G, unit is pixel, utilizes ruler directly to measure Notebook Battery rectangle draw-in groove intermediate rectangular holeWidth is d₀, draw-in groove K₁And K₂Distance between intermediate rectangular hole center is l₁, draw-in groove K₂And K₃Intermediate rectangular hole center itBetween distance be l₂, draw-in groove K₃And K₄Distance between intermediate rectangular hole center is l₃, draw-in groove K₄And K₅In intermediate rectangular holeDistance between the heart is l₄, draw-in groove K₅And K₆Distance between intermediate rectangular hole center is l₅，d₀、l₁、l₂、l₃、l₄And l₅ListPosition is millimeter; Known as calculated, draw-in groove K in image₁And K₂Distance between intermediate rectangular hole centerDraw-in grooveK₂And K₃Distance between intermediate rectangular hole centerDraw-in groove K₃And K₄Distance between intermediate rectangular hole centerDraw-in groove K₄And K₅Distance between intermediate rectangular hole centerDraw-in groove K₅And K₆Intermediate rectangular holeDistance between centerl′₁、l′₂、l′₃、l′₄、l′₅Unit be pixel, and round off method is to l '₁、l′₂、l′₃、l′₄、l′₅Round, establish draw-in groove K in image₁、K₂、K₃、K₄、K₅、K₆The abscissa of intermediate rectangular hole central point is from left to right respectively x₁、x₂、x₃、x₄、x₅、x₆, unit is pixel, $x_1=-\frac{l_3^{\&prime;}}{2}-l_2^{\&prime;}-l_1^{\&prime;},x_2=-\frac{l_3^{\&prime;}}{2}-l_2^{\&prime;},x_3=-\frac{l_3^{\&prime;}}{2},x_4=\frac{l_3^{\&prime;}}{2},x_5=\frac{l_3^{\&prime;}}{2}+l_4^{\&prime;},x_6=\frac{l_3^{\&prime;}}{2}+l_4^{\&prime;}+l_5^{\&prime;}.$

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

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

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

Brief description of the drawings

Fig. 1 is workbench schematic diagram;

Fig. 2 reverses platform initial position floor map;

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

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

Fig. 5 is overall workflow figure.

In figure: 1-transfer station; 2-Notebook Battery; 4-CCD camera C1; 5-station A; 6-magnetic chuck X1; 8 batteriesBox; 9-manipulator 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-rotating shaft Z1; 20-rotating shaft Z2; Hole in the middle of 21-draw-in groove.

Detailed description of the invention:

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

Respectively directly over production line station A and battery draw-in groove K₃And K₄CCD camera C is installed directly over centre₁And CCDCamera C₂, on the torsion platform B of parallel and production line, six battery draw-in groove K are set₁，K₂，K₃，K₄，K₅，K₆, six Battery CardsThe centre bottom of groove is offered rectangle hole, places respectively the white visible light source irradiating, electricity below each battery draw-in groove upwardPond draw-in groove K₁And K₂Connect as one battery draw-in groove K₃And K₄Connect as one battery draw-in groove K₅And K₆Connect as one, at draw-in grooveK₃The lower left corner arranges a rotating shaft Z perpendicular to reversing platform B₁, at K₄The upper right corner arranges a rotating shaft Z perpendicular to reversing platform B₂，K₂WithK₃Through rotating shaft Z₁Be connected, make K₁，K₂Can be around Z₁Be rotated counterclockwise 180 degree, K₄And K₅Through rotating shaft Z₂Be connected, K₅，K₆Can be around Z₂Be rotated counterclockwise 180 degree. Concrete layout as shown in Figure 1-Figure 3.

CCD camera C₁Be responsible for the collection of Notebook Battery image on production line, CCD camera C₂Be responsible for reversing platform B upper 6The collection of individual draw-in groove and center white visible images thereof, manipulator J₁With manipulator J₂End is respectively with cuboid grooveShape magnetic chuck X₁And X₂, manipulator J₁Be responsible for a batteries capture rear and be put in the draw-in groove reversing on platform from production line,Manipulator J₂After being responsible for six batteries on torsion retrotorsion platform B to capture together, be placed in the battery case of notebook batteryBox 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 C₁Take pictures extract the Notebook Battery at station A place on production line centre coordinate andDirectional information, and control manipulator J₁Capture battery

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

First, with CCD camera C₁The image of taking production line station A place Notebook Battery, at the lower-left point of image isInitial point O₁Set up rectangular coordinate system iO₁J, adopts 3 × 3 whole image of detection window traversal, in 8 connected pixel neighborhoods, respectivelyCalculated level direction, vertical direction, the Grad in 135 degree directions and 45 degree directions, wherein, the Grad in horizontal directionFor: P₀[i,j]＝|I₁[i-1,j]-I₁[i+1, j] |, the Grad in vertical direction is: P₉₀[i,j]＝|I₁[i,j-1]-I₁[i, j+1] |, the Grad in 135 degree directions is: P₁₃₅[i,j]＝|2×(I₁[i-1,j-1]-I₁[i+1, j+1]) |, 45 degree sidesGrad is upwards: P₄₅[i,j]＝|2×(I₁[i+1,j-1]-I₁[i-1, j+1]) |, I in formula₁It is former that [i, j] representative gathersThe gray value of capable, the j row pixel of i in beginning image, i=0,1,2, L, 398, or 399, j=0,1,2, L, 298, or 299,

Secondly, calculate total Grad M[i in 8 connected pixel neighborhoods, j], M[i, j]=P₀[i,j]+P₉₀[i,j]+P₁₃₅[i,j]+P₄₅[i, j], and itself and the threshold tau of setting are compared, obtain the gray value C[i of binaryzation back edge image, j], $C\&lsqb;i,j\&rsqb;=\left\{\begin{array}{c}1,M\&lsqb;i,j\&rsqb;>\mathrm{\&tau;}\\ 0,M\&lsqb;i,j\&rsqb;\&le;\mathrm{\&tau;}\end{array}\right.,$ Wherein, the selected threshold that τ is marginal point, and τ=6,

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

As shown in Figure 4, Figure 5, first, will be with O₁For the rectangular coordinate system of initial point changes into O₁For the polar coordinate system of initial point,If ρ is utmost point footpath, 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,Between its maximum and minimum of a value, set up respectively a discrete parameter space;

Secondly, set up the accumulator 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 value is 1, doesHough conversion, calculates this corresponding curve in polar coordinate system, and adds 1, i.e. N[ρ on corresponding accumulator] [α]=N[ρ][α]+1，

Finally, find out the local maximum of the accumulator of collinear points on correspondence (x, y) coordinate system, this value provide (x,Y) parameter (ρ of collinear points straight line on coordinate plane₀,α₀)，α₀Be the polar angle of the straight line that collinear points are maximum, because two, batteryThe length of crest line HR and GP is the longest, and therefore, the line segment that collinear points are maximum must be in HR or GP, again because HR and GP are flatOK, again with battery post body axis L₁L₂Parallel, therefore, battery post body axis L₁L₂Polar angle θ=α₀，

(3) Coordinate Conversion

By original coordinate system iO₁Any point coordinate [i, j] in j is transformed into i ' O in new coordinate system₁J ', and calculate that it is newCoordinate figure [i ', j '], specific formula for calculation is as follows:

First, whenTime, by original coordinate system iO₁J is around an O₁Be rotated counterclockwiseAngle set up new withO₁For the rectangular coordinate system i ' O of initial point₁j′，

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

Wherein, i ', j ' is respectively coordinate system i ' O₁The horizontal stroke of j ' mid point, ordinate value, and i ', j ' is natural number, i '=-399 ,-398, L0,1,2, L, 398, or 399, j '=-299 ,-298, L, 0,1,2, L, 298, or 299, and the abscissa i of pointEqual at 0 o'clock,In the time that the abscissa i of point is not equal to 0, $\mathrm{\&beta;}={\arctan }^{-1}\frac{j}{i},$

WhenTime, by original coordinate system iO₁J is around an O₁Be rotated counterclockwiseAngle is set up new for O₁For formerRectangular coordinate system i ' the O of point₁j′，

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

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

First, at original coordinate system iO₁In j, the image gathering is carried out to Threshold segmentation binary conversion treatment, obtain two-valueChange the gray value B of image₁[i,j]，I₁[i, j] is the gray value of the original image of collection,T is the binarization segmentation threshold value of barrier and background, T=210, I₁Capable, the j of i row in the original image that [i, j] representative gathersThe gray value of pixel, i=0,1,2, L, 398, or 399, j=0,1,2, L, 298, or 299, and by no place of binaryzation in coordinate systemThe point of managing is all set to 0,

Then, by the gray value B of image after binaryzation₁[i, j], at coordinate system i ' O₁In j ' respectively on i ' axle and j ' axleProjection, determines the coordinate J ' of battery central point on i ' axle and j ' axle_xAnd J '_y, concrete steps are as follows:

1) by the gray value B of image after binaryzation₁[i, j], to projection on i ' axle, calculates each parallel with j ' axle and lists allThe gray value sum of pixel, is stored in respectively array F by result of calculation₁In [f], whenTime, $F_1\&lsqb;f\&rsqb;=\underset{i^{\&prime;}=-r_1}{\overset{0}{\&Sigma;}}{B}_1\&lsqb;f,i^{\&prime;}\&rsqb;,$ Wherein $r_1=400\&times;cos(\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;}),$ m₁＝300×cosθ，n₁=300 × cos θ, and r₁、m₁、n₁Adopt and round up respectivelyMethod rounds numerical value, and f is from-m₁Value is to n successively₁; When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $F_1\&lsqb;f\&rsqb;=\underset{i^{\&prime;}=-m}{\overset{n}{\&Sigma;}}{B}_1\&lsqb;f,i^{\&prime;}\&rsqb;,$ Wherein $r_1=500\&times;cos(\mathrm{\&beta;}-\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2}),$ m₁＝400×cos(π-θ)， $n_1=300\&times;cos(\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),$ And r₁、m₁、n₁Adopt respectivelyRounding-off method rounds numerical value, f from 0 successively value to r₁；

2) by the gray value B of image after binaryzation₁[i, j], to projection on j ' axle, calculates in every a line parallel with i ' axleThe gray value sum of all pixels, is stored in respectively array H by result of calculation₁In [h], whenTime, $H_1\&lsqb;k\&rsqb;=\underset{i^{\&prime;}=-m_2}{\overset{n_2}{\&Sigma;}}{B}_1(i^{\&prime;},k),$ Wherein $r_2=500\&times;cos(\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),m_2=400\&times;cos(\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;}),$ n₂＝300×cosθ, and r₂, m, n adopt respectively rounding-off method to round numerical value, h from 0 successively value to r₂; When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $H_1\&lsqb;k\&rsqb;=\underset{i^{\&prime;}=0}{\overset{r_2}{\&Sigma;}}{B}_1(j^{\&prime;},k),$ Wherein $r_2=500\&times;cos(\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),$ m₂＝400×cos(π-θ)，And r₂、m₂、n₂Adopt respectively rounding-off method to round numerical value, h is from-m₂Value is to n successively₂，

3) at coordinate system i ' O₁In j ', adopt two ends detection methods, determine left and right on i ' direction of principal axis of Notebook BatteryThe abscissa value on border, and by result store at variable J '_L、J′_RIn, simultaneously by the upper and lower border of determining on j ' direction of principal axisOrdinate value is stored in variable K '_UAnd K '_DIn, concrete steps are as follows:

A) f is according to f=-400 ,-399, L, and 0,1,2,399,400 values successively, in the time that f meets following condition: F₁[f+2]-F₁[f]≥15&&F₁[f+2]≥25&&F₁[f]≤5, show to have detected the left margin of Notebook Battery, use variableJ′_LNote down current abscissa f, and make J '_L=f, continues to f assignment, when f meets following condition: F₁[f]-F₁[f+2]≥15&&F₁[f]≥25&&F₁[f+2]≤5, show to have detected the right margin of Notebook Battery, with variable J '_RNote down currentAbscissa f, and make J '_R＝f，

B) h is according to h=-300 ,-299, L0, and 1,2, L299,300 values successively, when h meets following condition: H₁[h+2]-H₁[h]≥15&&H₁[h+2]≥25&&H₁[h]≤5, show to have detected the lower boundary of Notebook Battery, use variableK′_DNote down current abscissa h, and make K '_D=h, continues to h assignment, when h meets following condition: H₁[h]-H₁[h+2]≥15&&H₁[h]≥25&&H₁[h+2]≤5, show to have detected the coboundary of Notebook Battery, with variable K '_UNote down currentAbscissa h, and make K '_U＝h，

C) the abscissa C ' of calculating 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 the anodal and negative pole of Notebook Battery

If F[J '_L]>F[J′_R], Notebook Battery negative pole is at coordinate system i ' O₁The middle abscissa value of j ' is J '_L, anodal horizontal seatScale value is J '_R; If F[J '_L]<F[J′_R], Notebook Battery positive pole is at coordinate system i ' O₁The middle abscissa value of j ' is J '_L, negative pole horizontal strokeCoordinate figure is J '_R，

(6) according to Notebook Battery central point at coordinate system i ' O₁Horizontal stroke under j ', ordinate value, calculate at iO₁J coordinate systemUnder horizontal stroke, 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 ' O₁The horizontal stroke of definite Notebook Battery central point, vertical in j 'Coordinate figure, as abscissa C_i′Equal at 0 o'clock,As abscissa C_i′Be not equal at 0 o'clock, ${\mathrm{\&beta;}}^{\&prime;}={\arctan }^{-1}\frac{C_{j^{\&prime;}}}{C_{i^{\&prime;}}},$

(7) control manipulator J₁Capture Notebook Battery

First, PLC controls manipulator J₁To specified coordinate position, i.e. Notebook Battery center C (C_i,C_j), and controlMagnetic chuck X₁The long the longest limit MN of rib vertical with torsion platform B horizontal center line ST, MN and L₁L₂Parallel, whenTime, PLC controls manipulator and is rotated counterclockwise θ angle and declines 10 centimetres, then the magnetic chuck crawl battery that powers onAnd rise 10 centimetres, and now, if F[J '_L]>F[J′_R], control turn clockwise θ angle decline 10 centimetres of manipulator, thenMagnetic chuck power-off is put into Notebook Battery to reverse on platform, if F[J '_L]<F[J′_R], control manipulator and be rotated counterclockwise π-θAngle also declines 10 centimetres, and then magnetic chuck power-off is put into Notebook Battery to reverse on platform; WhenTime, controllerTurn clockwise π-θ angle decline 10 centimetres of tool hand, then magnetic chuck powers on and captures battery and rise 10 centimetres, now,If F[J '_L]>F[J′_R], control manipulator and be rotated counterclockwise π-θ angle and decline 10 centimetres, then magnetic chuck power-off is by penRemember that this battery is put on torsion platform, if F[J '_L]<F[J′_R], control turn clockwise θ angle decline 10 centimetres of manipulator,Then magnetic chuck power-off is put into Notebook Battery to reverse on platform;

Step 2: utilize CCD camera C₂Take and reverse six draw-in groove centre bottom rectangle hole images on platform, by figureDetermine as Processing Algorithm 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 C₂Take the image that reverses upper six draw-in grooves of platform B, with CCD camera C₂The center of the image of takingPoint O₂For initial point is set up rectangular coordinate system, the image of taking is carried out to Threshold segmentation binary conversion treatment, obtain binary imageGray value B₂[i,j]，I₂[i, j] is CCD camera C₂The i that gathers image is capable,The gray value of j row pixel, T₂For the white visible ray that sends from draw-in groove central rectangular aperture hole and the binarization segmentation threshold of backgroundValue, T₂=200, i, j is natural number, and i=-199 ,-198, L, 0,1,2, L, 198, or 199, j=-149 ,-148, L, 0,1,2, L, 148, or 149,

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

First, the gray value of pixel on image edge is set to 0, then adopts 3 × 3 detection window traversal view pictureImage, the gray value that makes detection window central point is B₂[i, j], central point around the gray value of 8 neighborhood points from the upper left corner withBe respectively clockwise B₂[i-1,j+1]、B₂[i,j+1]、B₂[i+1,j+1]、B₂[i+1,j]、B₂[i+1,j-1]、B₂[i,j-1]、B₂[i-1,j-1]、B₂[i-1,j]，

Allow 3 × 3 detection window travel through successively entire image, the gray value of the pixel under calculation window covers, if B₂[i,j]+B₂[i-1,j+1]+B₂[i,j+1]+B₂[i+1,j+1]+B₂[i+1,j]+B₂[i+1,j-1]+B₂[i,j-1]+B₂[i-1,j-1]+B₂[i-1, j]≤3, make B₂[i, j]=1, otherwise, B made₂[i,j]＝0，

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

The gray value of removing each pixel listing of image after noise is added, result of calculation is stored in respectivelyArray F₂In [f],Wherein f is integer, f=-199, and-198, L, 0,1,2, L, 198, or 199,

(3) Notebook Battery central point abscissa in computed image

F is according to f=-199 ,-198, L0, and 1,2, L, 198, or 199 values successively, when f meets following condition: F₂[f+2]-F₂[f]≥15&&F₂[f+2]≥25&&F₂[f]≤5, show that the rising edge for the first time that image detected is along coordinate,Note down current abscissa f with variable G, and make G=f, continue to f assignment, when f meets following condition: F₂[f]-F₂[f+2]≥15&&F₂[f]≥25&&F₂[f+2]≤5, show that the trailing edge for the first time that image detected, along coordinate, stops composing to fValue, notes down current abscissa f with variable G ', and makes G '=f, Notebook Battery rectangle draw-in groove K₄Intermediate rectangular hole is at figureWidth value d ' in picture₀=G '-G, unit is pixel, utilizes ruler directly to measure Notebook Battery rectangle draw-in groove intermediate rectangular holeWidth is d₀, draw-in groove K₁And K₂Distance between intermediate rectangular hole center is l₁, draw-in groove K₂And K₃Intermediate rectangular hole center itBetween distance be l₂, draw-in groove K₃And K₄Distance between intermediate rectangular hole center is l₃, draw-in groove K₄And K₅In intermediate rectangular holeDistance between the heart is l₄, draw-in groove K₅And K₆Distance between intermediate rectangular hole center is l₅，d₀、l₁、l₂、l₃、l₄And l₅ListPosition is millimeter; Known as calculated, draw-in groove K in image₁And K₂Distance between intermediate rectangular hole centerDraw-in grooveK₂And K₃Distance between intermediate rectangular hole centerDraw-in groove K₃And K₄Distance between intermediate rectangular hole centerDraw-in groove K₄And K₅Distance between intermediate rectangular hole centerDraw-in groove K₅And K₆Intermediate rectangular hole centerBetween distancel′₁、l′₂、l′₃、l′₄、l′₅Unit be pixel, and round off method is to l '₁、l′₂、l′₃、l′₄、l′₅Round, establish draw-in groove K in image₁、K₂、K₃、K₄、K₅、K₆The abscissa of intermediate rectangular hole central point is from left to right respectively x₁、x₂、x₃、x₄、x₅、x₆, 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) determine by template matching method the position that Notebook Battery should be laid

At manipulator J₁Before laying battery, the CCD camera that reverses platform top all can be to reversing platform photographic images, to figurePicture is processed, and result of calculation is still stored in respectively to array F₂In [f],Wherein f is integer,F=-199 ,-198, L0,1,2, L, 198, or 199 values successively, when f meets following condition: F₂[f+2]-F₂[f]≥15&&F₂[f+2]≥25&&F₂[f]≤5, show that first rising edge that image detected, along coordinate, stops the assignment to f, with becomingAmount E notes down current abscissa f, and makes E=f, states condition: F when f gets all over being discontented with foot after all values₂[f+2]-F₂[f]≥15&&F₂[f+2]≥25&&F₂[f]≤5 o'clock, store in variable E 0, i.e. E=0, by E respectively with x₁、x₂、x₃、x₄、x₅、x₆Compare, ifWherein ε is error threshold, and ε=3, shows draw-in groove K₁Not placing battery, nowPLC controls manipulator J₁The battery of absorption is put into draw-in groove K₁; IfShow draw-in groove K₂Do not place electricityPond, now PLC controls manipulator J₁The battery of absorption is put into draw-in groove K₂; IfShow draw-in groove K₃NotPlacing battery, now PLC controls manipulator J₁By first the battery of drawing Rotate 180 degree, then put into draw-in groove K₃; IfShow draw-in groove K₄Not placing battery, now PLC controls manipulator J₁The battery of absorption is first rotated180 degree, then put into draw-in groove K₄; IfShow draw-in groove K₅Not placing battery, now PLC controls manipulatorThe battery of absorption is put into draw-in groove K₅; IfShow draw-in groove K₆Not placing battery, now PLC controllerTool hand J₁The battery of absorption is put into draw-in groove K₆; 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 K₁、K₂Around Z₁Axle is counterclockwiseRotate 180 degree makes K simultaneously₅、K₆Around Z₂Axle is rotated counterclockwise 180 degree, now, and manipulator J₂By six joint notebook electricity after reversingPond is placed in the note book battery box on tooling platform V and assembles after capturing simultaneously.

Claims (5)

1. for vision-based detection and the control method of Notebook Battery automatic Composition, it is characterized in that, respectively at production lineDirectly over station A and battery draw-in groove K₃And K₄CCD camera C is installed directly over centre₁With CCD camera C₂, in parallel and productionSix battery draw-in groove K are set on the torsion platform B of line₁，K₂，K₃，K₄，K₅，K₆, and manipulator J₁With manipulator J₂, six Battery CardsThe centre bottom of groove is offered rectangle hole, places respectively the white visible light source irradiating, electricity below each battery draw-in groove upwardPond draw-in groove K₁And K₂Connect as one battery draw-in groove K₃And K₄Connect as one battery draw-in groove K₅And K₆Connect as one, at draw-in grooveK₃The lower left corner arranges a rotating shaft Z perpendicular to reversing platform B₁, at K₄The upper right corner arranges a rotating shaft Z perpendicular to reversing platform B₂，K₂WithK₃Through rotating shaft Z₁Be connected, make K₁，K₂Can be around Z₁Be rotated counterclockwise 180 degree, K₄And K₅Through rotating shaft Z₂Be connected, K₅，K₆Can be around Z₂Be rotated counterclockwise 180 degree, concrete steps are as follows:

Step 1: utilize CCD camera C₁Take pictures and extract centre coordinate and the direction of the Notebook Battery at station A place on production lineInformation, and control manipulator J₁Capture battery

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

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

(3) Coordinate Conversion

By original coordinate system iO₁Any point coordinate [i, j] in j is transformed into i ' O in new coordinate system₁J ', and calculate its new seatScale value [i ', j '], specific formula for calculation is as follows:

First, whenTime, by original coordinate system iO₁J is around an O₁Be rotated counterclockwiseAngle is set up new for O₁ForRectangular coordinate system i ' the O of initial point₁j′，

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

Wherein, i ', j ' is respectively coordinate system i ' O₁The horizontal stroke of j ' mid point, ordinate value, and i ', j ' is natural number, i '=-399 ,-398, L0,1,2, L, 398, or 399, j '=-299 ,-298, L, 0,1,2, L, 298, or 299, and the abscissa i of point equals 0Time,In the time that the abscissa i of point is not equal to 0, $\mathrm{\&beta;}={\arctan }^{-1}\frac{j}{i},$

WhenTime, by original coordinate system iO₁J is around an O₁Be rotated counterclockwiseAngle is set up new for O₁For initial pointRectangular coordinate system i ' O₁j′，

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

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

First, at original coordinate system iO₁In j, the image gathering is carried out to Threshold segmentation binary conversion treatment, obtain binary pictureThe gray value B of picture₁[i,j]，I₁[i, j] is the gray value of the original image of collection, and T isThe binarization segmentation threshold value of barrier and background, T=210, I₁In the original image that [i, j] representative gathers, capable, the j of i is listed as pictureThe gray value of element, i=0,1,2, L, 398, or 399, j=0,1,2, L, 298, or 299, and binaryzation in coordinate system is not processedTo point be all set to 0,

Then, by the gray value B of image after binaryzation₁[i, j], at coordinate system i ' O₁In j ' respectively to projection on i ' axle and j ' axle,Determine the coordinate J ' of battery central point on i ' axle and j ' axle_xAnd J '_y, concrete steps are as follows:

1) by the gray value B of image after binaryzation₁[i, j], to projection on i ' axle, calculates each parallel with j ' axle and lists all picturesThe gray value sum of element, is stored in respectively array F by result of calculation₁In [f], whenTime, $F_1\&lsqb;f\&rsqb;=\underset{i^{\&prime;}=-r_1}{\overset{0}{\&Sigma;}}{B}_1\&lsqb;f,i^{\&prime;}\&rsqb;,$ Wherein $r_1=400\&times;cos(\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;}),$ m₁＝300×cosθ，n₁=300 × cos θ, and r₁、m₁、n₁Adopt and round up respectivelyMethod rounds numerical value, and f is from-m₁Value is to n successively₁; When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $F_1\&lsqb;f\&rsqb;=\underset{i^{\&prime;}=-m}{\overset{n}{\&Sigma;}}{B}_1\&lsqb;f,i^{\&prime;}\&rsqb;,$ Wherein $r_1=500\&times;cos(\mathrm{\&beta;}-\mathrm{\&theta;}+\frac{\mathrm{\&pi;}}{2}),$ m₁＝400×cos(π-θ)，And r₁、m₁、n₁Adopt respectivelyRounding-off method rounds numerical value, f from 0 successively value to r₁；

2) by the gray value B of image after binaryzation₁[i, j], to projection on j ' axle, calculates all pictures in every a line parallel with i ' axleThe gray value sum of element, is stored in respectively array H by result of calculation₁In [h], whenTime, $H_1\&lsqb;k\&rsqb;=\underset{i^{\&prime;}=-m_2}{\overset{n_2}{\&Sigma;}}{B}_1(i^{\&prime;},h),$ Wherein $r_2=500\&times;cos(\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),m_2=400\&times;cos(\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;}),$ n₂=300 × cos θ, and r₂, m, n adopt respectively fourHouse five enters method and rounds numerical value, h from 0 successively value to r₂; When $\frac{\mathrm{\&pi;}}{2}\&le;\mathrm{\&theta;}<\mathrm{\&pi;}$ Time, $H_1\&lsqb;k\&rsqb;=\underset{i^{\&prime;}=0}{\overset{r_2}{\&Sigma;}}{B}_1(i^{\&prime;},k),$ Wherein $r_2=500\&times;cos(\mathrm{\&beta;}-\mathrm{\&theta;}-\frac{\mathrm{\&pi;}}{2}),$ m₂＝400×cos(π-θ)，And r₂、m₂、n₂Adopt respectivelyRounding-off method rounds numerical value, and h is from-m₂Value is to n successively₂，

3) at coordinate system i ' O₁In j ', adopt two ends detection method, determine the left and right border of Notebook Battery on i ' direction of principal axisAbscissa value, and by result store at variable J '_L、J′_RIn, simultaneously by the vertical seat on the upper and lower border of determining on j ' direction of principal axisScale value is stored in variable K '_UAnd K '_DIn, concrete steps are as follows:

A) f is according to f=-400 ,-399, L, and 0,1,2,399,400 values successively, in the time that f meets following condition: F₁[f+2]-F₁[f]≥15&&F₁[f+2]≥25&&F₁[f]≤5, show to have detected the left margin of Notebook Battery, with variable J '_LRecordRecord current abscissa f, and make J '_L=f, continues to f assignment, when f meets following condition: F₁[f]-F₁[f+2]≥15&&F₁[f]≥25&&F₁[f+2]≤5, show to have detected the right margin of Notebook Battery, with variable J '_RNote down current horizontal seatMark f, and make J '_R＝f，

B) h is according to h=-300 ,-299, L0, and 1,2, L299,300 values successively, when h meets following condition: H₁[h+2]-H₁[h]≥15&&H₁[h+2]≥25&&H₁[h]≤5, show to have detected the lower boundary of Notebook Battery, with variable K '_DRecordRecord current abscissa h, and make K '_D=h, continues to h assignment, when h meets following condition: H₁[h]-H₁[h+2]≥15&&H₁[h]≥25&&H₁[h+2]≤5, show to have detected the coboundary of Notebook Battery, with variable K '_UNote down current horizontal seatMark h, and make K '_U＝h，

C) the abscissa C ' of calculating 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 the anodal and negative pole of Notebook Battery

If F[J '_L]>F[J′_R], Notebook Battery negative pole is at coordinate system i ' O₁The middle abscissa value of j ' is J '_L, anodal abscissa valueFor J '_R; If F[J '_L]<F[J′_R], Notebook Battery positive pole is at coordinate system i ' O₁The middle abscissa value of j ' is J '_L, negative pole abscissaValue is J '_R，

(6) according to Notebook Battery central point at coordinate system i ' O₁Horizontal stroke under j ', ordinate value, calculate at iO₁Under j coordinate systemHorizontal, 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 ' O₁Horizontal stroke, the ordinate of definite Notebook Battery central point in j 'Value, as abscissa C_i′Equal at 0 o'clock,As abscissa C_i′Be not equal at 0 o'clock, ${\mathrm{\&beta;}}^{\&prime;}={\arctan }^{-1}\frac{C_{j^{\&prime;}}}{C_{i^{\&prime;}}},$

(7) control manipulator J₁Capture Notebook Battery

First, PLC controls manipulator J₁To specified coordinate position, i.e. Notebook Battery center C (C_i,C_j), and control magneticSucker X₁The long the longest limit MN of rib vertical with torsion platform B horizontal center line ST, MN and L₁L₂Parallel, whenTime,PLC controls manipulator and is rotated counterclockwise θ angle and declines 10 centimetres, and then magnetic chuck powers on and captures battery and rise 10 lisRice, now, if F[J '_L]>F[J′_R], control turn clockwise θ angle decline 10 centimetres of manipulator, then magnetic chuck is disconnectedElectricity is put into Notebook Battery to reverse on platform, if F[J '_L]<F[J′_R], control manipulator and be rotated counterclockwise π-θ angle and decline10 centimetres, then magnetic chuck power-off is put into Notebook Battery to reverse on platform; WhenTime, control manipulator clockwiseRotation π-θ angle also 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 manipulator and be rotated counterclockwise π-θ angle and decline 10 centimetres, then magnetic chuck power-off is by Notebook BatteryBe put into and reverse on platform, if F[J '_L]<F[J′_R], control turn clockwise θ angle decline 10 centimetres, then magnetic of manipulatorSucker power-off is put into Notebook Battery to reverse on platform;

Step 2: utilize CCD camera C₂Take and reverse six draw-in groove centre bottom rectangle hole images on platform, by image placeAdjustment method is determined 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 C₂Take the image that reverses upper six draw-in grooves of platform B, with CCD camera C₂The central point O of the image of taking₂For initial point is set up rectangular coordinate system, the image of taking is carried out to Threshold segmentation binary conversion treatment, obtain the ash of binary imageDegree value B₂[i,j]，I₂[i, j] is CCD camera C₂The i that gathers image is capable, j rowThe gray value of pixel, T₂For the white visible ray that sends from draw-in groove central rectangular aperture hole and the binarization segmentation threshold value of background, T₂＝200, i, j is natural number, and i=-199 ,-198, L, 0,1,2, L, 198, or 199, j=-149 ,-148, L, 0,1,2, L,148, or 149,

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

First, the gray value of pixel on image edge is set to 0, then adopts 3 × 3 detection window traversal view picture figurePicture, the gray value that makes detection window central point is B₂[i, j], central point around the gray value of 8 neighborhood points from the upper left corner with suitableClockwise is respectively B₂[i-1,j+1]、B₂[i,j+1]、B₂[i+1,j+1]、B₂[i+1,j]、B₂[i+1,j-1]、B₂[i,j-1]、B₂[i-1,j-1]、B₂[i-1,j]，

Allow 3 × 3 detection window travel through successively entire image, the gray value of the pixel under calculation window covers, if

B₂[i,j]+B₂[i-1,j+1]+B₂[i,j+1]+B₂[i+1,j+1]+B₂[i+1,j]+B₂[i+1,j-1]+B₂[i,j-1]+B₂[i-1,j-1]+B₂[i-1, j]≤3, make B₂[i, j]=1, otherwise, B made₂[i,j]＝0，

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

The gray value of removing each pixel listing of image after noise is added, result of calculation is stored in respectively to arrayF₂In [f],Wherein f is integer, f=-199, and-198, L, 0,1,2, L, 198, or 199,

(3) Notebook Battery central point abscissa in computed image;

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

At manipulator J₁Before laying battery, the CCD camera that reverses platform top all can, to reversing platform photographic images, enter imageRow is processed, and result of calculation is still stored in respectively to array F₂In [f],Wherein f is integer, f=-199 ,-198, L0,1,2, L, 198, or 199 values successively, when f meets following condition: F₂[f+2]-F₂[f]≥15&&F₂[f+2]≥25&&F₂[f]≤5, show that first rising edge that image detected, along coordinate, stops the assignment to f, use variable ENote down current abscissa f, and make E=f, state condition: F when f gets all over being discontented with foot after all values₂[f+2]-F₂[f]≥15&&F₂[f+2]≥25&&F₂[f]≤5 o'clock, store in variable E 0, i.e. E=0, by E respectively with x₁、x₂、x₃、x₄、x₅、x₆Carry outCompare, ifWherein ε is error threshold, and ε=3, shows draw-in groove K₁Not placing battery, now PLC controlManipulator J processed₁The battery of absorption is put into draw-in groove K₁; IfShow draw-in groove K₂Not placing battery, nowPLC controls manipulator J₁The battery of absorption is put into draw-in groove K₂; IfShow draw-in groove K₃Not placing battery,Now PLC controls manipulator J₁By first the battery of drawing Rotate 180 degree, then put into draw-in groove K₃; IfTableBright draw-in groove K₄Not placing battery, now PLC controls manipulator J₁By first the battery of drawing Rotate 180 degree, then put into draw-in groove K₄; IfShow draw-in groove K₅Not placing battery, now PLC controls manipulator the battery of absorption is put into draw-in grooveK₅; IfShow draw-in groove K₆Not placing battery, now PLC controls manipulator J₁The battery of absorption is putEnter draw-in groove K₆; 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 K₁、K₂Around Z₁Axle is rotated counterclockwise180 degree make K simultaneously₅、K₆Around Z₂Axle is rotated counterclockwise 180 degree, now, and manipulator J₂By same six joint Notebook Batterys after reversingIn time, is placed in the note book battery box on tooling platform V and assembles after capturing.

2. the vision-based detection for Notebook Battery automatic Composition as claimed in claim 1 and control method, is characterized in that:CCD camera C₁Be responsible for the collection of Notebook Battery image on production line, CCD camera C₂Be responsible for reverse upper six draw-in grooves of platform B andThe wherein collection of core white look visible images, manipulator J₁With manipulator J₂End is inhaled with cuboid groove shape magnetic respectivelyDish X₁And X₂, manipulator J₁Be responsible for a batteries capture rear and be put in the draw-in groove reversing on platform manipulator J from production line₂After 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 onReverse 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: stepDescribed in rapid one (1), adopt improved Roberts edge algorithms to detect the edge of notebook cell image, concrete steps asUnder:

First, with CCD camera C₁The image of taking production line station A place Notebook Battery is initial point O at the lower-left point of image₁Set up rectangular coordinate system iO₁J, adopts 3 × 3 whole image of detection window traversal, in 8 connected pixel neighborhoods, calculates respectivelyHorizontal direction, vertical direction, the Grad in 135 degree directions and 45 degree directions, wherein, the Grad in horizontal direction is: P₀[i,j]＝|I₁[i-1,j]-I₁[i+1, j] |, the Grad in vertical direction is: P₉₀[i,j]＝|I₁[i,j-1]-I₁[i,j+1] |, the Grad in 135 degree directions is: P₁₃₅[i,j]＝|2×(I₁[i-1,j-1]-I₁[i+1, j+1]) |, in 45 degree directionsGrad be: P₄₅[i,j]＝|2×(I₁[i+1,j-1]-I₁[i-1, j+1]) |, I in formula₁The original graph that [i, j] representative gathersThe gray value of capable, the j row pixel of i in picture, i=0,1,2, L, 398, or 399, j=0,1,2, L, 298, or 299,

Secondly, calculate total Grad M[i in 8 connected pixel neighborhoods, j], M[i, j]=P₀[i,j]+P₉₀[i,j]+P₁₃₅[i,j]+P₄₅[i, j], and itself and the threshold tau of setting are compared, obtain the gray value C[i of binaryzation back edge image, j], $C\&lsqb;i,j\&rsqb;=\{\begin{array}{c}1,M\&lsqb;i,j\&rsqb;>\mathrm{\&tau;}\\ 0,M\&lsqb;i,j\&rsqb;\&le;\mathrm{\&tau;}\end{array},$ 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, is characterized in that: stepDescribed in rapid one (2), pass through the polar angle θ of the column axis of the above-mentioned station A of Hough transformation calculations place Notebook Battery, specifically stepRapid as follows:

First, will be with O₁For the rectangular coordinate system of initial point changes into O₁For the polar coordinate system of initial point, establishing ρ is utmost point footpath, and α is polar angle,ρ and α are natural number, and ρ equals 0,1 ..., 498, or 499, α equals 0,1 ..., 178, or 179, respectively in its maximum andBetween little value, set up a discrete parameter space;

Secondly, set up the accumulator 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 value is 1, makes Hough and becomesChange, calculate this corresponding curve in polar coordinate system, and add 1, i.e. N[ρ on corresponding accumulator] [α]=N[ρ] [α]+1，

Finally, find out the local maximum of the accumulator of collinear points on correspondence (x, y) coordinate system, this value provides (x, y) to sitParameter (the ρ of collinear points straight line in mark plane₀,α₀)，α₀Be the polar angle of the straight line that collinear points are maximum, because two crest lines of batteryThe length of HR and GP is the longest, and therefore, the line segment that collinear points are maximum must be in HR or GP, again because HR is parallel with GP,Again with battery post body axis L₁L₂Parallel, therefore, battery post body axis L₁L₂Polar angle θ=α₀。

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

F is according to f=-199 ,-198, L0, and 1,2, L, 198, or 199 values successively, when f meets following condition: F₂[f+2]-F₂[f]≥15&&F₂[f+2]≥25&&F₂[f]≤5, show that the rising edge for the first time that image detected, along coordinate, uses variableG notes down current abscissa f, and makes G=f, continues to f assignment, when f meets following condition: F₂[f]-F₂[f+2]≥15&&F₂[f]≥25&&F₂[f+2]≤5, show that the trailing edge for the first time that image detected, along coordinate, stops the assignment to f, with becomingAmount G ' notes down current abscissa f, and makes G '=f, Notebook Battery rectangle draw-in groove K₄Intermediate rectangular hole is wide in imageDegree value d '₀=G '-G, unit is pixel, utilizes ruler directly to measure Notebook Battery rectangle draw-in groove intermediate rectangular hole width to bed₀, draw-in groove K₁And K₂Distance between intermediate rectangular hole center is l₁, draw-in groove K₂And K₃Distance between intermediate rectangular hole centerFrom being l₂, draw-in groove K₃And K₄Distance between intermediate rectangular hole center is l₃, draw-in groove K₄And K₅Between intermediate rectangular hole centerDistance be l₄, draw-in groove K₅And K₆Distance between intermediate rectangular hole center is l₅，d₀、l₁、l₂、l₃、l₄And l₅Unit beMillimeter; Known as calculated, draw-in groove K in image₁And K₂Distance between intermediate rectangular hole centerDraw-in groove K₂And K₃Distance between intermediate rectangular hole centerDraw-in groove K₃And K₄Distance between intermediate rectangular hole centerDraw-in groove K₄And K₅Distance between intermediate rectangular hole centerDraw-in groove K₅And K₆Intermediate rectangular hole centerBetween distancel′₁、l′₂、l′₃、l′₄、l′₅Unit be pixel, and round off method is to l '₁、l′₂、l′₃、l′₄、l′₅Round, establish draw-in groove K in image₁、K₂、K₃、K₄、K₅、K₆The abscissa of intermediate rectangular hole central point is from left to right respectivelyx₁、x₂、x₃、x₄、x₅、x₆, unit is pixel, $x_1=-\frac{l_3^{\&prime;}}{2}-l_2^{\&prime;}-l_1^{\&prime;},x_2=-\frac{l_3^{\&prime;}}{2}-l_2^{\&prime;},x_3=-\frac{l_3^{\&prime;}}{2},x_4=\frac{l_3^{\&prime;}}{2},x_5=\frac{l_3^{\&prime;}}{2}+l_4^{\&prime;},x_6=\frac{l_3^{\&prime;}}{2}+l_4^{\&prime;}+l_5^{\&prime;}.$