CN107139003A - Modularization vision system preparation method - Google Patents
Modularization vision system preparation method Download PDFInfo
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- CN107139003A CN107139003A CN201710501367.5A CN201710501367A CN107139003A CN 107139003 A CN107139003 A CN 107139003A CN 201710501367 A CN201710501367 A CN 201710501367A CN 107139003 A CN107139003 A CN 107139003A
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- robot
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- lathe
- light source
- image
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2404—Arrangements for improving direct observation of the working space, e.g. using mirrors or lamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2409—Arrangements for indirect observation of the working space using image recording means, e.g. a camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of vision system, for the positioning and detection of all kinds of handwares, electronic component, plastics and rubber etc., modularized design is realized, different application can be with Rapid Combination system.The vision system includes the communication interface of camera erecting device, system calibrating, template establishment and matching algorithm, systematic survey kit and system and robot and lathe.And standardize each functional module.
Description
Technical field
The present invention relates to the automation equipment field of visual cooperation robot and lathe, more particularly to each functional module mark
The vision system of standardization, preceding method makes vision system adapt to the rapid translatings of different workpieces.
Background technology
Vision system be replace human eye using video camera and software so that automation equipment possess similar to the mankind that
Split, classified, being recognized, being tracked, being differentiated the function of decision-making to target.
In process of production, automatic mode requirement has higher speed, precision, resolving power, Stability and adaptability, and
And to operate for a long time, such demand manually can not be met, and the untouchable measurement of vision system can solve the problem that this
One problem, can meet the demand of automated production pattern, and can ensure machine and product.
Currently, the vision system that industrial robot is used is coordinated, both for the customed product of certain workpiece, construction cycle
Long, function is single, and the adaptability to external environment condition is not strong；Change after workpiece, it is necessary to illumination system, camera calibration, template
Processing Algorithm, communication interface, parameter setting and image processing method carry out larger change, to adapt to the new features of new workpiece.This
Sample has had a strong impact on the update of consumer product, does not meet the technical requirements of intelligence manufacture, constrains the popularization of vision system
Using.
Another problem is that most of vision system is using the scaling method between cumbersome camera, robot, lathe,
Common customer can not calibrate high-precision result, and it implements highly difficult and problematic and extremely inefficient.
Not yet find that the vision system standardized with each functional module coordinates industrial robot should in the prior art
With, thus need such automation equipment to simplify and optimize the industrial treatment in many fields and manufacture.
The content of the invention
Vision system is typically designed as the single customed product of function, the identification for certain workpiece.And the present invention is implemented
Example proposes a kind of vision system of each functional module standardization, by the module that each is standardized, and quick composition is new to be regarded
Feel detecting system, the identification for different workpieces.
Make to be fixedly connected between camera, robot, lathe, after once accurately demarcating, preserve calibration result,
After reinstalling every time, only local fine setting need to be done, it is possible to realize that the relative position between all parts is point-device
Calibration.Moreover, needing not move through professional training to execute-in-place engineer, as long as the illustratively simple a few step operations of flow, very
Whole calibration process can be completed soon, and more directly control is carried out to output parameter, the coordinate transform of complexity is need not rely upon.
The embodiment of the present invention provides the vision system of standardization, with including illumination system, camera calibration, template processing calculation
The module such as method, communication interface, parameter setting and image processing method, systematic survey kit.Camera erecting device is using full side
Position screw rod regulation, band auto-lock function greatly enhances the Stability and adaptability of system, can effectively reduce or remit repetition labor
It is dynamic, improve operating efficiency.It is more worthwhile that acquired data result vision system provides simpler, faster and efficiency cost
Detection and processing.
Wherein, illumination system devises the light source installation site at top, side, the back side as One function module, and
Angle can be adjusted, so as to realize the polishing of any direction；It is equipped with the different colours such as white light, feux rouges and different size
Light source.Can accomplish completely from different directions, using different colours and varying strength light source constitute vision illumination system.
System calibrating module, contains coordinate transform, robot and the machine between camera calibration, camera and industrial robot
Coordinate transform between bed.Calibration system is standardized, the scaling board that uses, the disposing way of scaling board, image is taken
Quantity, robot take coordinated manner to be all fixed.Demarcation carries out the operation of whole process first, after equipment is dismounted again,
When being demarcated again, need to only local directed complete set be carried out to camera, robot relative coordinate system, compensated due to the mistake that dismounting is introduced
Difference, realizes Fast Calibration.
Template Processing Algorithm module, extracts the universal performance of template processing, realizes the standardization of module external interface, necessarily
Different type workpiece in volume range, such as handware, food, plasthetics, can use identical algorithm to realize knowledge
Not.
Communication interface module, for the robot and Digit Control Machine Tool of different manufacturers, on the basis of the ICP/IP protocol of standard,
Some specific functions are extended, for compatible different data interactive mode.At present, it is possible to achieve and ABB, FANUC, KUKA,
The vendor equipments such as YASKAWA are communicated, while there is provided expansion interface, can customize data format and communication modes.
Parameter setting and image processing module, parameter setting are used at the design interface and mode of operation of standardization, image
Reason is increased image processing criteria function tool storage room, freely can be split and recombinated using the colored design consistent with black and white interface,
And by the result combined, preserved as a new instrument.
System tool bag module, realizes color extraction, dimensional measurement, function correction, Fuzzy Processing, Defect Detection, bar code
Scanning, character recognition, edge strengthening, real time differential, data statistics etc..Each instrument is made to the software tool pack of standard, no
Same application can be combined instrument to realize specific function.
Substantially, the embodiment of the present invention proposes that vision system coordinates a whole set of automation equipment of robot and lathe, and it has
Have：
1st, for obtaining the industrial camera and its erecting device of image from target object；
2nd, split, classified, being recognized, being tracked, being differentiated the vision software of decision-making to target image；
3rd, the industrial robot and material transmission device of carrying action are realized；
4th, the Digit Control Machine Tool of work pieces process is realized.
Visual cooperation lathe loading and unloading standard block can be used for improving many industry and manufacture processing.These include but not limited
In the detection and installation of the parts in mobile phone assembly line；The sorting and processing of plastic cement buckle；The number of tire-mold template
Control processing automatic loading/unloading；The producing line detection and carrying of electric machine assembly；Log is recognized in wood-working factory to be cut off or cut
Cut；The identification of bread producing line and packaging；Swabbing in Production of Moon Cake；The weld seam polished caused by welding；Some die castings are entered
Row polishing；Automatically size or the inferior fruit of vpg connection etc. are picked out.At present, it is all these processing be required to manual intervention and calculate,
, data base administration high to field engineer's Capability Requirement and data processing complex, and typically cost is very high, expend substantial amounts of labor
Power and time and not always accurate or automatic.
In order to illustrate more clearly of technical scheme, letter will be made to the required accompanying drawing used in embodiment below
Singly introduce, it should be apparent that, drawings in the following description are some capsule information of the present invention, for ordinary skill
For personnel, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
【Brief description of the drawings】
Fig. 1 shows camera and light source erecting device.
Fig. 2 shows work pieces process chuck in lathe.
Fig. 3 shows the development process of vision software.
Fig. 4 shows the structure of vision software.
Fig. 5 shows partial function interface.
【Embodiment】
Modularization vision system preparation method is described below in conjunction with accompanying drawing.The present invention proposes a kind of vision system,
For the positioning and detection of all kinds of handwares, electronic component, plastics and rubber etc., the automatic processing of workpiece is realized.It is described
Vision system includes camera erecting device, illumination system, system calibrating, template establishment and matching algorithm, parameter setting and image
The communication interface of processing method, systematic survey kit and system and robot and lathe.And by each functional module standard
Change, realize the rapid translating of different workpieces.
First, workpiece is positioned over and treats feeding position, by photoelectric sensor, whether detection workpiece reaches feeding area；The
Two, target workpiece is classified by vision system, recognized, is tracked, decision-making is differentiated, each functional module of vision system is
Standardization, various workpieces can be detected simultaneously, it is possible to realize the identification for being switched fast different workpieces；3rd, according to vision
The data that system and detection sensor are sent, realize crawl to workpiece, the installation of robot using base and ground into
Certain angle, it is convenient to coordinate feeding with lathe；4th, robot is put the workpiece in machine chuck, in order to realize high accuracy
Positioning, chuck to workpiece carry out positioning correcting；5th, Digit Control Machine Tool carries out different types of process operation to different workpieces；
Finally, the workpiece machined is taken out out of lathe, workpiece reaches Workpiece storage area after the detection of vision system, by
Whether photoelectric sensor detection workpiece is reached, and the workpiece progress classification machined is deposited according to the testing result of vision system
Put.The safe operation to whole unit is protected simultaneously, is mounted with laser scanner in the position base of robot, laser is swept
Retouch device and be unable to protection zone and install fence additional.
Fig. 1 shows the erecting device of camera and light source.In order to adapt to the erecting device of the change of workpiece, camera and light source
Must have comprehensive regulation and lock function, and regulation uses the less screw rod of step pitch, realizes trickle adjustment.Camera and
The regulation of light source all can be carried out individually.
A good polishing effect is generally obtained, mainly light source is adjusted in terms of three, is illumination side respectively
To, intensity of illumination, photochromic.Devise the light source installation site at top, side, the back side in the present embodiment, and angle can be with
Adjustment, so as to realize the polishing of any direction；Light source equipped with different size, and each light source is equipped with power supply regulation
Device；It is equipped with the light source of the different colours such as white light, feux rouges, blue light.Can accomplish completely from different directions, using different colours and
The light source of varying strength constitutes the illumination system of vision.
Before system worked well, all relevant portions are demarcated, made in design fixed between camera, robot
Connection, after once accurately demarcating, preserves calibration result, after reinstalling every time, only need to do local fine setting,
The point-device calibration of relative position between all parts can just be realized.Moreover, need not be through to execute-in-place engineer
Professional training is crossed, as long as the illustratively simple a few step operations of flow, can complete whole calibration process, output parameter is entered soon
Row more directly control, need not rely upon the coordinate transform of complexity.First, camera is demarcated, demarcation need to be to camera first
Internal reference and outer ginseng demarcate simultaneously, it is necessary to gather multiple uncalibrated images, typically to gather more than 13, can just obtain convergence knot
Really；When demarcating again, Camera extrinsic need to only be calibrated, gather 1 uncalibrated image.Then, robot and phase are set up
The coordinate transform of machine, obtains the current location of template workpiece, and posture during robot crawl template, the two is matched,
By the relative variation between workpiece when detecting, in the posture for the robot that is added to；When demarcating again, only teaching is needed to go out machine
The crawl posture of people.Finally, the coordinate transform of robot and lathe is set up, the upper of lathe is obtained by robot demonstrator
Discharge position.
Fig. 2 shows the workpiece chuck inside lathe.Because the absolute fix precision of robot is extremely difficult to Digit Control Machine Tool
Requirement on machining accuracy, if using robot directly into lathe blowing, it is difficult to ensure that the processing uniformity of lathe.This implementation
Recoverable chuck and magnechuck are employed in example, the placement precision of workpiece can be effectively adjusted, it is ensured that the well processed effect of lathe
Really.
Fig. 3 shows the development process of vision software.First, according to existing documents and materials, binding condition and from
Body studies advantage, determines vision system exploitation and application in the present embodiment.Secondly, lot of documents and correlation theory, algorithm are consulted,
Understand domestic and international present Research, establish the theoretical foundation of subject study.Again, the demand analysis of problem is collected, and carries out concept
Design and detailed design, write code and realize various algorithms and each related response of software systems, while comparative studies
The way and feature of the maturation vision software such as VisionPro, Halcon, NI Vision, summarize successful experience.Then, to some
Conventional case is studied, and is detected vision system using indivedual typical cases, is inspired and guide Project, and by reality
Practical level, manipulative ability and project performance level in work examine practice.Finally, binding isotherm experiment, comparative studies
Summary and enlightenment are drawn with case study, for application of the vision software in lathe loading and unloading standard block, one is ultimately formed
Individual perfect application model, and the checking for carrying out a new round to its effect and then draws research further to detect early stage achievement
Conclusion, writes corresponding document.
Fig. 4 shows the structure of vision software.Vision software mainly includes parameter setting module, data acquisition module, number
According to management module, data processing module, data communication module, software tool pack composition.Each module complete independently partial function,
The intermodule division of labor is clear and definite, passes through interface communication each other.
For the robot and Digit Control Machine Tool of different manufacturers, on the basis of the ICP/IP protocol of standard, some are extended special
Function is determined, for compatible different data interactive mode.At present, it is possible to achieve and the manufacturer such as ABB, FANUC, KUKA, YASKAWA
Equipment is communicated, while there is provided expansion interface, can customize data format and communication modes.
Parameter setting is using the design interface and mode of operation of standardization, and image procossing is using colored consistent with black and white interface
Design, increase image processing criteria function tool storage room, freely can split and recombinate, and by the result combined, be used as one
Individual new instrument is preserved.
Software can realize color extraction, dimensional measurement, function correction, Fuzzy Processing, Defect Detection, bar code scan, word
Accord with identification, edge strengthening, real time differential, data statistics etc..Each instrument is made to the software tool pack of standard, different applications
Instrument can be combined to realize specific function.
The universal performance of template processing is extracted, the difference in the range of the standardization of module external interface, certain volume is realized
Type of workpiece, such as handware, food, plasthetics, can use identical algorithm to realize identification.The foundation of template,
Match somebody with somebody, detect the function entrance for all using standard.
Fig. 5 shows partial function interface.The partial function interface in software is illustrated in figure, and each function has been responsible for
Into functional annotation.
Claims (12)
1. modularization vision system preparation method, it is characterised in that including:Industrial phase for obtaining image from target object
Machine and its erecting device；Illumination system for improving collection image quality；Target image is split, classified, is recognized, with
Track, the vision software for differentiating decision-making；Realize the industrial robot and material transmission device of carrying action；Various photoelectric sensors and
Peripheral matched equipment；Realize the Digit Control Machine Tool of work pieces process.
2. according to the method described in claim 1, wherein described obtain the industrial camera of image from target object and its install dress
Put, with comprehensive regulation and lock function, and regulation uses the less screw rod of step pitch, realizes trickle adjustment, camera
Regulation can be carried out individually.
3. according to the method described in claim 1, wherein it is described improve collection image quality illumination system, can be in terms of three
Light source is adjusted, is direction of illumination respectively, intensity of illumination, photochromic；Devise the light source installation position at top, side, the back side
Put, and angle can be adjusted, so as to realize the polishing of any direction；Light source equipped with different size, and each light source
It is equipped with power regulator；It is equipped with the light source of the different colours such as white light, feux rouges, blue light；Can accomplish completely from different directions,
The illumination system of vision is constituted using the light source of different colours and varying strength.
4. according to the method described in claim 1, wherein described realize industrial robot and material transmission device that carrying is acted,
Robot base is fixedly connected with material transmission device, and material transmission device is fixedly connected with camera erecting device, robot with
Certain angle of inclination is arranged on base, and material conveyer belt uses double layer design, the space shared by saving feeding and blanking.
5. according to the method described in claim 1, wherein the various photoelectric sensors and peripheral matched equipment, comprising:Safety
Protect laser scanner, in place detection light curtain, guard rail, electronic box, cable, alignment pin, vacuum cup, protective cover, waterproof cylinder,
Magnetic valve, silencer etc..
It is absolute due to robot 6. according to the method described in claim 1, wherein the Digit Control Machine Tool for realizing work pieces process
Positioning precision is extremely difficult to the requirement on machining accuracy of Digit Control Machine Tool, if using the robot directly blowing into lathe, it is difficult to protect
The processing uniformity of lathe is demonstrate,proved, recoverable chuck and magnechuck is employed, can effectively adjust the placement precision of workpiece, it is ensured that machine
The well processed effect of bed.
7. according to the method described in claim 1, wherein described split to target image, classified, recognized, tracked, differentiated
The vision software of decision-making, comprising:System calibrating, template establishment and matching algorithm, parameter setting and image processing method, system
Survey tool bag and system and robot and the communication interface of lathe, and each functional module is standardized, realize different works
The rapid translating of part.
8. method according to claim 7, wherein the system calibrating, comprising:Camera calibration, camera and industrial machine
The coordinate transform between coordinate transform, robot and lathe between people, calibration system is standardized, the demarcation used
Plate, the disposing way of scaling board, amount of images, robot is taken to take coordinated manner to be all fixed, demarcation first carries out whole
The operation of process,, only need to be to camera, relative coordinate system progress office of robot when being demarcated again after equipment is dismounted again
Portion is adjusted, and is compensated due to the error that dismounting is introduced, is realized Fast Calibration.
9. method according to claim 7, wherein the template establishment and matching algorithm, the general spy for extracting template processing
Property, realize the different type workpiece in the range of the standardization of module external interface, certain volume, such as handware, food, plastic cement system
Product etc., can use identical algorithm to realize identification.
10. method according to claim 7, wherein the parameter setting and image processing method, parameter setting use mark
The design interface and mode of operation of standardization, image procossing increase image procossing mark using the colored design consistent with black and white interface
Quasi-function tool storage room, freely can split and recombinate, and by the result combined, be preserved as a new instrument.
11. method according to claim 7, wherein the systematic survey kit, comprising:Color is extracted, geometry is surveyed
Amount, function correction, Fuzzy Processing, Defect Detection, bar code scan, character recognition, edge strengthening, real time differential, data statistics etc.,
Each instrument is made to the software tool pack of standard, different applications can be combined instrument to realize specific function.
12. method according to claim 7, wherein the system and robot and the communication interface of lathe, for difference
The robot and Digit Control Machine Tool of producer, on the basis of the ICP/IP protocol of standard, extend some specific functions, for compatibility not
With data interactive mode, at present, it is possible to achieve and the vendor equipment such as ABB, FANUC, KUKA, YASKAWA is communicated, simultaneously
There is provided expansion interface, data format and communication modes can be customized.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710501367.5A CN107139003A (en) | 2017-06-27 | 2017-06-27 | Modularization vision system preparation method |
| PCT/CN2017/100808 WO2019000640A1 (en) | 2017-06-27 | 2017-09-07 | Modularized vision system manufacturing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710501367.5A CN107139003A (en) | 2017-06-27 | 2017-06-27 | Modularization vision system preparation method |
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| CN107139003A true CN107139003A (en) | 2017-09-08 |
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| CN201710501367.5A Withdrawn CN107139003A (en) | 2017-06-27 | 2017-06-27 | Modularization vision system preparation method |
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| WO (1) | WO2019000640A1 (en) |
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| CN109822564A (en) * | 2019-01-14 | 2019-05-31 | 巨轮（广州）机器人与智能制造有限公司 | A kind of construction method of vision system |
| CN110200440A (en) * | 2019-06-06 | 2019-09-06 | 福建泉州市剑井贸易有限公司 | Smart home nursing bed |
| EP3650180A1 (en) * | 2018-11-07 | 2020-05-13 | Wolfgang Grigo | System for optical inspection |
| CN115401527A (en) * | 2022-10-08 | 2022-11-29 | 瑞安市博业激光应用技术有限公司 | Visual teaching system |
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| Publication number | Publication date |
|---|---|
| WO2019000640A1 (en) | 2019-01-03 |
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Application publication date: 20170908 |