CN108459558B - Positioning measurement device and positioning measurement method - Google Patents
Positioning measurement device and positioning measurement method Download PDFInfo
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- CN108459558B CN108459558B CN201810235117.6A CN201810235117A CN108459558B CN 108459558 B CN108459558 B CN 108459558B CN 201810235117 A CN201810235117 A CN 201810235117A CN 108459558 B CN108459558 B CN 108459558B
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- 238000005259 measurement Methods 0.000 title claims abstract description 39
- 238000000691 measurement method Methods 0.000 title claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 42
- 238000000034 method Methods 0.000 claims description 24
- 241001292396 Cirrhitidae Species 0.000 claims description 9
- 230000007547 defect Effects 0.000 abstract description 6
- 238000009776 industrial production Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
The application discloses a positioning measurement device and a positioning measurement method, wherein the positioning measurement device is positioned on a numerical control machine tool and comprises the following steps: a moving workbench for placing a workpiece to be measured; a linear array camera fixed above the moving workbench; the processor is used for processing the image shot by the linear array camera, acquiring the diameter of a round hole of the workpiece to be detected, and determining coordinate information of the hole center of the round hole in a coordinate system of the workpiece to be detected; and the workpiece processing component is used for determining the coordinate information of the round hole center in the coordinate system of the numerical control machine tool and processing the workpiece to be detected according to the coordinate information of the round hole center in the coordinate system of the workpiece to be detected and the coordinate information of the workpiece to be detected in the coordinate system of the numerical control machine tool. The positioning measurement device provided by the application overcomes the defects of traditional manual operation, adopts the linear array camera to acquire the image with high precision in the scanning direction, can truly feed back the workpiece picture in industrial production, improves the measurement and positioning precision, and has simple structure and high positioning speed.
Description
Technical Field
The invention relates to the technical field of visual positioning, in particular to a positioning measurement device and a positioning measurement method.
Background
Currently, industrial products are of a wide variety, and automatic positioning may be involved in the production of the industrial products. Such as punching holes in parts or machining specific parts of parts in an automatic production line. However, at present, some processing plants also adopt the traditional manual positioning method, and the method has a plurality of defects, such as single product positioning for a long time, easy fatigue of eyes of detection workers, easy influence of emotion, and difficult guarantee of positioning results; each worker has slight floating on the judgment standard of the accuracy of the same kind of positioned, and the positioning standards are inconsistent, so that high-quality products are difficult to ensure; the speed of manual positioning is relatively slow, and a product is accurate to position, so that a long time is needed, and the manual positioning cannot meet the online positioning requirement of a high-speed production line.
With the development of technology, the demands of markets and users on the precision degree and quality of products are higher, and the traditional manual positioning method cannot meet the demands of users, so that the area-array camera is used for measuring and positioning. However, the Charge-coupled Device (CCD) of the single area array is limited by the production technology, so that the requirements of industrial measurement and market are generally difficult to achieve. To achieve high resolution, multiple area cameras are often required to be used together, which in turn makes the system computationally complex.
Disclosure of Invention
Therefore, the invention aims to provide a positioning measurement device and a positioning measurement method, which have the advantages of simple structure, high positioning speed and high positioning precision. The specific scheme is as follows:
a positioning measurement device located on a numerically controlled machine tool, comprising:
a moving workbench for placing a workpiece to be measured;
a linear camera fixed above the moving workbench;
The processor is used for processing the image shot by the linear array camera, acquiring the diameter of the round hole of the workpiece to be detected and determining the coordinate information of the hole center of the round hole in the coordinate system of the workpiece to be detected;
And the workpiece processing component is used for determining the coordinate information of the round hole center in the coordinate system of the numerical control machine tool and processing the workpiece to be detected according to the coordinate information of the round hole center in the coordinate system of the workpiece to be detected and the coordinate information of the workpiece to be detected in the coordinate system of the numerical control machine tool.
Preferably, in the positioning measurement device provided by the embodiment of the present invention, the line camera includes a light source emitter for providing a linear light source;
the light source emitter obliquely faces the plane of the workpiece to be detected, so that the linear light source covers the workpiece to be detected.
Preferably, in the positioning measurement device provided by the embodiment of the present invention, an actual size of an object corresponding to a sum of images captured by the line camera in a unit time is the same as a travelling speed of the workpiece to be measured.
Preferably, in the positioning measurement device provided by the embodiment of the present invention, the processor includes an image acquisition card for collecting and transmitting images captured by the line camera, and image processing software.
Preferably, in the positioning measurement device provided by the embodiment of the present invention, the image processing software is halcon image processing software.
Preferably, in the positioning measurement device provided by the embodiment of the present invention, the processor is specifically configured to read an image collected by the image acquisition card through halcon image processing software, obtain profile information of the workpiece to be measured, extract a circular hole feature on the workpiece to be measured according to the profile information, fit a circular hole, obtain a diameter of the circular hole of the workpiece to be measured, and determine coordinate information of a hole center of the circular hole in a coordinate system of the workpiece to be measured.
Preferably, in the positioning measurement device provided by the embodiment of the present invention, the line camera is a line CCD camera.
The embodiment of the invention also provides a positioning measurement method, which comprises the following steps:
the linear array camera shoots an image of a workpiece to be detected placed on the moving workbench;
The processor processes the image shot by the linear array camera, acquires the diameter of the round hole of the workpiece to be detected, and determines coordinate information of the hole center of the round hole in a coordinate system of the workpiece to be detected;
and the workpiece processing component determines the coordinate information of the round hole center in the coordinate system of the numerical control machine according to the coordinate information of the round hole center in the coordinate system of the workpiece to be detected and the coordinate information of the workpiece to be detected in the coordinate system of the numerical control machine, and processes the workpiece to be detected.
Preferably, in the positioning measurement method provided by the embodiment of the present invention, the processor processes an image captured by the line camera, obtains a diameter of a circular hole of the workpiece to be measured, and determines coordinate information of a hole center of the circular hole in a coordinate system of the workpiece to be measured, where the method specifically includes:
the processor collects images shot by the linear array camera through the image acquisition card;
Reading the image collected by the image acquisition card through halcon image processing software to obtain the contour information of the workpiece to be detected;
Extracting the round hole characteristics on the workpiece to be detected according to the contour information;
fitting the round holes to obtain the diameter of the round holes of the workpiece to be measured, and determining the coordinate information of the hole centers of the round holes in a coordinate system of the workpiece to be measured.
The invention provides a positioning measurement device and a positioning measurement method, wherein the positioning measurement device is positioned on a numerical control machine tool and comprises the following steps: a moving workbench for placing a workpiece to be measured; a linear array camera fixed above the moving workbench; the processor is used for processing the image shot by the linear array camera, acquiring the diameter of a round hole of the workpiece to be detected, and determining coordinate information of the hole center of the round hole in a coordinate system of the workpiece to be detected; and the workpiece processing component is used for determining the coordinate information of the round hole center in the coordinate system of the numerical control machine tool and processing the workpiece to be detected according to the coordinate information of the round hole center in the coordinate system of the workpiece to be detected and the coordinate information of the workpiece to be detected in the coordinate system of the numerical control machine tool. The positioning measurement device provided by the invention adopts the linear array camera to acquire the image, the processor to process the image and the workpiece processing part to perform positioning processing, overcomes the defects of traditional manual operation, has high precision in the scanning direction when the linear array camera is adopted to acquire the image, can truly feed back the workpiece picture in industrial production, improves the measurement and positioning precision, and has simple structure and high positioning speed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a positioning measurement device according to an embodiment of the present invention;
fig. 2 is a flowchart of a positioning measurement method according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a positioning measurement device, which is positioned on a numerical control machine tool, as shown in figure 1, and comprises:
a moving workbench for placing a workpiece to be measured;
A line camera 1 fixed above the moving table;
the processor 2 is used for processing the image shot by the linear array camera 1, acquiring the diameter of a round hole of the workpiece to be detected and determining coordinate information of the hole center of the round hole in a coordinate system of the workpiece to be detected;
And the workpiece processing component 3 is used for determining the coordinate information of the hole center of the round hole in the coordinate system of the numerical control machine tool according to the coordinate information of the hole center of the round hole in the coordinate system of the workpiece to be detected and the coordinate information of the workpiece to be detected in the coordinate system of the numerical control machine tool and processing the workpiece to be detected.
The positioning and measuring device provided by the embodiment of the invention is positioned on a numerical control machine tool and comprises: the device comprises a motion workbench, a linear array camera, a processor and a workpiece processing part; the linear array camera is used for shooting an image of the workpiece to be detected; the processor is used for processing the image shot by the linear array camera, acquiring the diameter of a round hole of the workpiece to be measured, and determining coordinate information of the hole center of the round hole in a coordinate system of the workpiece to be measured; the workpiece processing component is used for determining the coordinate information of the round hole center in the coordinate system of the numerical control machine tool and processing the workpiece to be detected according to the coordinate information of the round hole center in the coordinate system of the workpiece to be detected and the coordinate information of the workpiece to be detected in the coordinate system of the numerical control machine tool. The positioning measurement device adopts the linear array camera to acquire the image, the processor to process the image and the workpiece processing part to perform positioning processing, so that the defect of traditional manual operation is overcome, the precision of the image acquired by the linear array camera in the scanning direction is high, the workpiece picture in industrial production can be fed back truly, the measurement and positioning precision is improved, and the positioning device is simple in structure and high in positioning speed.
The cost of the linear array camera is greatly lower than that of an area array camera with the same area and the same resolution; the accuracy of the image acquired by the line camera in the scanning direction may be higher than that of the image acquired by the area camera. In addition, the processor can be a computer or an upper computer and can be electrically connected with the numerical control machine, and the communication between the processor and the numerical control machine can be wireless communication or communication in other modes, so long as the processor is satisfied and information is sent to a workpiece processing part in the numerical control machine to realize accurate processing of the workpiece to be detected by the numerical control machine.
In a specific implementation, in the positioning measurement device provided by the embodiment of the present invention, the linear array camera may be a linear array CCD camera, and the number of the linear array CCD cameras is one. The linear array CCD camera here may be specifically a 4K linear array CCD camera, where 4K refers to the resolution of video, and belongs to ultra-high definition resolution, and the number of pixels in the horizontal direction can reach 4000 pixels, but not 4000 absolute pixels, and reach 3840×2160, 4096×2160.
In particular, in the positioning measurement device provided by the embodiment of the present invention, as shown in fig. 1, the line camera 1 may include a light source emitter 11 for providing a linear light source; the light source emitter 11 is obliquely faced to the plane of the workpiece to be measured, so that the linear light source covers the workpiece to be measured. It should be noted that, when the linear light source is a high-brightness linear light source, the light source emitter may be appropriately adjusted to obtain a clearer image when the image is obtained.
In a specific implementation, in the positioning measurement device provided by the embodiment of the invention, the actual size of the object space corresponding to the sum of the images shot by the linear array camera in unit time is the same as the travelling speed of the workpiece to be measured, that is, synchronous scanning is required, when scanning is synchronous, the acquired workpiece image is not deformed compared with the actual workpiece, and the processing result of the workpiece image is closest to the actual value of the workpiece size; when the acquisition speed of the camera is greater than the travelling speed of the workpiece, the workpiece image is elongated, and the result of processing the workpiece image is greater than the true value of the workpiece size; when the camera acquisition speed is less than the workpiece travel speed, the workpiece image is compressed.
In a specific implementation, in the positioning measurement device provided by the embodiment of the present invention, as shown in fig. 1, the processor 2 may include an image acquisition card 21 for collecting and transmitting the image captured by the line camera 1, and image processing software 22. The image processing software 22 herein may be halcon image processing software.
Specifically, in implementation, the processor may be specifically configured to read an image collected by the image acquisition card through halcon image processing software, obtain profile information of the workpiece to be measured in advance, extract the profile information of the workpiece to be measured through halcon image processing software, use feature extraction to find out a circular hole feature on the workpiece to be measured, then use fit_elipse_contour_ xld operator to fit the circular hole, obtain a more accurate circular hole feature, further obtain a diameter of the circular hole of the workpiece to be measured, and determine coordinate information of a hole center of the circular hole in a coordinate system of the workpiece to be measured through halcon image processing software.
Based on the same inventive concept, the embodiment of the invention also provides a positioning measurement method, and because the principle of solving the problem of the method is similar to that of the positioning measurement device, the implementation of the method can refer to the implementation of the positioning measurement device, and the repetition is omitted.
In specific implementation, as shown in fig. 2, the positioning measurement method provided by the embodiment of the invention specifically includes the following steps:
s201, shooting an image of a workpiece to be detected placed on a moving workbench by a linear array camera;
S202, processing an image shot by a linear array camera by a processor to obtain the diameter of a round hole of a workpiece to be detected, and determining coordinate information of the hole center of the round hole in a coordinate system of the workpiece to be detected;
s203, the workpiece processing component determines the coordinate information of the round hole center in the coordinate system of the numerical control machine according to the coordinate information of the round hole center in the coordinate system of the workpiece to be detected and the coordinate information of the workpiece to be detected in the coordinate system of the numerical control machine, and processes the workpiece to be detected.
In the positioning measurement method provided by the embodiment of the invention, the linear array camera is adopted to acquire the image and the processor is adopted to process the image, and then the defect of the traditional manual operation is overcome by the action of the workpiece processing part in the numerical control machine tool, so that the method is simple, the positioning speed is high, the positioning precision is high, and the accurate processing of the numerical control machine tool on the workpiece hole is realized.
In a specific implementation, in the positioning measurement method provided by the embodiment of the present invention, the step S202 of processing an image captured by a line camera by a processor to obtain a diameter of a circular hole of a workpiece to be measured, and determining coordinate information of a hole center of the circular hole in a coordinate system of the workpiece to be measured may specifically include the following steps:
Step one, a processor collects images shot by a linear array camera through an image acquisition card;
Reading an image collected by an image acquisition card through halcon image processing software to obtain outline information of a workpiece to be detected;
step three, extracting the round hole characteristics on the workpiece to be detected according to the contour information;
fitting the round hole to obtain the diameter of the round hole of the workpiece to be measured, and determining the coordinate information of the hole center of the round hole in the coordinate system of the workpiece to be measured.
The embodiment of the invention provides a positioning measurement device and a positioning measurement method, wherein the positioning measurement device is positioned on a numerical control machine tool and comprises the following steps: a moving workbench for placing a workpiece to be measured; a linear array camera fixed above the moving workbench; the processor is used for processing the image shot by the linear array camera, acquiring the diameter of a round hole of the workpiece to be detected, and determining coordinate information of the hole center of the round hole in a coordinate system of the workpiece to be detected; and the workpiece processing component is used for determining the coordinate information of the round hole center in the coordinate system of the numerical control machine tool and processing the workpiece to be detected according to the coordinate information of the round hole center in the coordinate system of the workpiece to be detected and the coordinate information of the workpiece to be detected in the coordinate system of the numerical control machine tool. The positioning measurement device provided by the invention adopts the linear array camera to acquire the image, the processor to process the image and the workpiece processing part to perform positioning processing, overcomes the defects of traditional manual operation, has high precision in the scanning direction when the linear array camera is adopted to acquire the image, can truly feed back the workpiece picture in industrial production, improves the measurement and positioning precision, and has simple structure and high positioning speed.
Finally, it is further noted that relational terms are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The positioning measurement device and the positioning measurement method provided by the invention are described in detail, and specific examples are applied to illustrate the principle and the implementation of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (6)
1. The utility model provides a location measuring device which characterized in that is located on the digit control machine tool, includes:
a moving workbench for placing a workpiece to be measured;
a linear camera fixed above the moving workbench;
The processor is used for processing the image shot by the linear array camera, acquiring the diameter of the round hole of the workpiece to be detected, determining the coordinate information of the hole center of the round hole in the coordinate system of the workpiece to be detected, and sending the coordinate information of the hole center of the round hole in the coordinate system of the workpiece to be detected to the workpiece processing component; the processor is electrically connected with the numerical control machine tool; the processor comprises an image acquisition card and image processing software, wherein the image acquisition card is used for collecting and transmitting images shot by the linear array camera; the processor is specifically used for reading the image collected by the image acquisition card through the image processing software, acquiring the contour information of the workpiece to be measured, extracting the round hole characteristics on the workpiece to be measured according to the contour information, fitting the round hole, acquiring the diameter of the round hole of the workpiece to be measured, and determining the coordinate information of the hole center of the round hole in the coordinate system of the workpiece to be measured;
And the workpiece processing component is used for determining the coordinate information of the round hole center in the coordinate system of the numerical control machine tool and processing the workpiece to be detected according to the coordinate information of the round hole center in the coordinate system of the workpiece to be detected and the coordinate information of the workpiece to be detected in the coordinate system of the numerical control machine tool.
2. The positioning measurement device of claim 1 wherein the line camera comprises a light source emitter for providing a linear light source;
the light source emitter obliquely faces the plane of the workpiece to be detected, so that the linear light source covers the workpiece to be detected.
3. The positioning measurement device according to claim 2, wherein an actual object space size corresponding to a sum of images photographed by the line camera in a unit time is the same as a traveling speed of the workpiece to be measured.
4. A positioning measurement device as set forth in claim 3 wherein said image processing software is halcon image processing software.
5. The positioning measurement device of any of claims 1-4 wherein the line camera is a line CCD camera.
6. A positioning measurement method, comprising:
the linear array camera shoots an image of a workpiece to be detected placed on the moving workbench;
The processor processes the image shot by the linear array camera, acquires the diameter of a round hole of the workpiece to be detected, determines coordinate information of a hole center of the round hole in a coordinate system of the workpiece to be detected, and sends the coordinate information of the hole center of the round hole in the coordinate system of the workpiece to be detected to a workpiece processing component; the processor is electrically connected with the numerical control machine tool; the processor comprises an image acquisition card and image processing software, wherein the image acquisition card is used for collecting and transmitting images shot by the linear array camera; the processor collects images shot by the linear array camera through the image acquisition card; reading an image collected by the image acquisition card through the image processing software, acquiring contour information of the workpiece to be detected, extracting round hole features on the workpiece to be detected according to the contour information, fitting the round holes, acquiring the diameter of the round hole of the workpiece to be detected, and determining coordinate information of the hole center of the round hole in a coordinate system of the workpiece to be detected;
And the workpiece processing component determines the coordinate information of the round hole center in the coordinate system of the numerical control machine according to the coordinate information of the round hole center in the coordinate system of the workpiece to be detected and the coordinate information of the workpiece to be detected in the coordinate system of the numerical control machine, and processes the workpiece to be detected.
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| CN109859186B (en) * | 2019-01-31 | 2020-12-29 | 江苏理工学院 | Lithium battery module positive and negative electrode detection method based on halcon |
| CN113466440B (en) * | 2021-06-30 | 2024-04-19 | 上海科华实验***有限公司 | Biochemical analyzer positioning accuracy testing equipment and method |
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