CN109872367B - Correction method and correction system for engraving machine with CCD camera - Google Patents
Correction method and correction system for engraving machine with CCD camera Download PDFInfo
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Abstract
The invention discloses a correction method and a correction system of an engraving machine with a CCD camera, wherein the correction method comprises the steps of initial setting, image capturing, image analysis, original positioning, deviation positioning and coefficient correction; the correction system comprises an image capturing module, an image processing module for processing images, a data measuring and calculating module and a data processing module. The invention realizes the positioning and correction of the workpiece in different states and improves the positioning precision of the workpiece by the correction system with the CCD camera engraving machine and the correction method thereof.
Description
Technical Field
The invention belongs to the technical field of engraving machines, and particularly relates to a correction method and a correction system of an engraving machine with a CCD camera.
Background
The engraver is in the processing on machining trade mainly used material surface, and along with the continuous development of sculpture technique, the precision requirement of processing trade to the engraver is also higher and higher, lies in improving the meticulous degree of sculpture pattern on the one hand, and on the other hand lies in reducing the material extravagant, improves the utilization ratio of material.
One of the methods for improving the machining accuracy is to improve the positioning accuracy of the workpiece. The CCD is a semiconductor device, can convert optical images into electric signals, and is widely applied to the fields of digital photography, astronomy, optical remote measuring technology, optical and frequency spectrum telescopes, high-speed photography and the like. The invention aims to provide an engraving machine with a CCD high-definition camera shooting correction system and a correction method for improving the positioning precision of a workpiece.
Disclosure of Invention
The present invention provides a calibration method and a calibration system for an engraving machine with a CCD camera, which are directed to the problems of the prior art.
The invention solves the technical problems through the following technical means:
the correction method of the engraving machine with the CCD camera comprises the following steps:
(1) Initial setting: resetting the CCD camera to be at the basic origin;
(2) Image capture: capturing a workpiece position image on the processing table top through a CCD camera;
(3) Image analysis: analyzing the image, and judging whether the workpiece is deflected:
if not, executing the step (4);
if yes, executing the step (5);
(4) Original positioning: measuring and calculating the distance and the offset angle between the basic original point and the angular point of the workpiece, calculating the position information of the angular point of the workpiece, and finishing positioning;
(5) And (3) deviation positioning: measuring and calculating the distance between a basic original point and two angular points of the workpiece, and calculating the position information of the two angular points of the workpiece;
(6) And (3) correcting the coefficient: and (6) calculating the offset coefficient of the workpiece according to the position information of the two angular points in the step (5), obtaining a processing correction coefficient, and finishing positioning.
As a further improvement of the present invention, the step (2) of capturing the image on the work table by the CCD camera in the image capturing further includes an image of the scale, and the base origin is on an extension of the scale.
As a further improvement of the present invention, the step (3) of image analysis specifically comprises the following steps:
(3-1) subtracting the captured image from the initial image to obtain a calculated image only containing the workpiece and the reference scale, wherein the initial image is a blank comparison image not containing the workpiece and the reference scale;
(3-2) performing edge detection on the calculated image through a Sobel operator to obtain a processed image only containing edge information of the workpiece and the reference ruler;
and (3-3) judging the workpiece deviation according to the processing image in the step (3-2).
As a further improvement of the invention, the specific operation of the step (3-3) is as follows: carrying out linear scanning on the processed image, calculating and comparing the scanning time of the edge information of the workpiece and the reference ruler, and judging whether the scanning time is consistent:
if yes, executing the step (4);
if not, executing the step (5).
As a further improvement of the method, the distance between the basic origin and the angular point of the workpiece in the original positioning in the step (4) and the deviation positioning in the step (5) is measured and calculated by a distance meter, and the deviation angle is measured and calculated by the rotation angle of the distance meter.
As a further improvement of the invention, the distance measuring instrument rotates and continuously measures distance to obtain a group of numerical values corresponding to the distance and the angle, the numerical values form an image in a coordinate system, the distance and the angle corresponding to the characteristic point are target values, and the characteristic point is a start point or an end point or an inflection point.
As a further improvement of the invention, the initial distance measuring direction of the distance measuring instrument is the same as the reference ruler, namely the initial angle is zero.
As a further improvement of the present invention, the offset coefficient in the coefficient correction in step (6) is obtained by calculating a tilt coefficient of a connecting line between two angular points through two sets of objective value simultaneous equations measured and calculated in step (5), that is, a processing correction coefficient.
The correction system with the CCD camera engraving machine comprises an image capturing module, an image processing module for processing images, a data measuring and calculating module and a data processing module;
the image capturing module is used for capturing a workpiece position image on the processing table surface;
the image processing module performs subtraction on the image and performs edge detection on the image;
the data measuring and calculating module is used for measuring and calculating a distance value and a rotation angle value;
and the data processing module carries out statistical analysis calculation on the measured distance value and the rotation angle value.
As a further improvement of the invention, the data processing module measures the distance value and the rotation angle value at the same time.
The invention has the beneficial effects that: the invention realizes the positioning and correction of the workpiece in different states and improves the positioning precision of the workpiece by the correction system with the CCD camera engraving machine and the correction method thereof.
Drawings
FIG. 1 is a schematic flow chart of a calibration method of the present invention;
FIG. 2 is a schematic view showing the alignment of a workpiece in the example;
FIG. 3 is a graph of distance as a function of angle for an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Examples
The correction method of the engraving machine with the CCD camera comprises the following steps:
(1) Initial setting: resetting the CCD camera to be at a basic origin, marking coordinates (0, 0) at the basic origin and establishing a coordinate system according to the basic origin;
(2) Image capture: capturing a workpiece position image on a processing table board through a CCD camera, wherein the CCD camera is fixedly connected with a machine head of the engraving machine under normal conditions, and the default machine head coordinate is consistent with the CCD camera;
(3) Image analysis: analyzing the image, and judging whether the workpiece is deflected:
if not, executing the step (4);
if yes, executing the step (5);
the workpiece is in two states on the processing table surface, wherein one state is that two sides are parallel to two sides of the processing table and are in a non-deflected state as shown in a in fig. 2, and the other state is that two sides are not parallel to two sides of the processing table and are in a deflected state as shown in b in fig. 2;
(4) Original positioning: measuring and calculating the distance and the offset angle between the basic original point and the angular point of the workpiece, calculating the position information of the angular point of the workpiece, and finishing positioning;
(5) And (3) deviation positioning: measuring and calculating the distance between the basic origin and two angular points of the workpiece, and calculating the position information of the two angular points of the workpiece;
(6) And (3) correcting the coefficient: and (5) calculating the offset coefficient of the workpiece according to the position information of the two angular points in the step (5), obtaining a processing correction coefficient and finishing positioning.
As a further improvement of the present invention, the step (2) of capturing the image on the work table by the CCD camera in the image capturing further includes an image of the scale, and the base origin is on an extension of the scale.
As a further improvement of the present invention, the step (3) of image analysis specifically comprises the following steps:
(3-1) subtracting the captured image from the initial image to obtain a calculated image only containing the workpiece and the reference scale, wherein the initial image is a blank contrast image not containing the workpiece and the reference scale; the CCD camera captures an image containing information of the processing table, the direct processing can cause interference to a processing result, and the information of the processing table is removed by subtracting the initial image, so that the influence on the image processing result is eliminated;
(3-2) performing edge detection on the calculated image through a Sobel operator to obtain a processed image only containing edge information of the workpiece and the reference ruler;
the Sobel operator examines weighted values of gray levels of upper, lower, left and right neighborhoods of each pixel f (i, j) of the digital image, and takes the weighted sum of gray values in all directions (0 degree, 45 degrees, 90 degrees and 135 degrees) as output, so that the effect of extracting the image edge can be achieved.
I.e. g (i, j) = fxr + fyr, wherein
fxr＝f(i-1,j-1)+2*f(i-1,j)+f(i-1,j+1)-f(i+1,j-1)-2*f(i+1,j)-f(i+1,j+1)
fyr＝f(i-1,j-1)+2*f(i,j-1)+f(i+1,j-1)-f(i-1,j+1)-2*f(i,j+1)-f(i+1,j+1)
And (3-3) judging the degree of deviation of the workpiece according to the processing image in the step (3-2).
As a further improvement of the invention, the specific operation of the step (3-3) is as follows: carrying out linear scanning on the processed image, calculating and comparing the scanning time of the edge information of the workpiece and the reference ruler, and judging whether the scanning time is consistent:
if yes, executing the step (4);
if not, executing the step (5);
only two kinds of information are left after the edge detection is carried out on the image, one is 0 for marking the background, the other is 1 for marking the edge line, the scanning direction is vertical to the reference scale during linear scanning, instantaneous scanning is carried out during scanning of the reference scale, instantaneous scanning is also generated during scanning of the edge line of the workpiece, the fact that the edge line of the workpiece is parallel to the reference scale is proved, the workpiece is in a non-correcting state, and if no instantaneous scanning is carried out during scanning of the edge line of the workpiece, the fact that the edge line of the workpiece is not parallel to the reference scale is proved, the workpiece is in a correcting state.
As a further improvement of the method, the distance between the basic origin and the corner point of the workpiece in the original positioning in the step (4) and the deviation positioning in the step (5) is measured and calculated by a distance meter, and the deviation angle is measured and calculated by the rotation angle of the distance meter.
As a further improvement of the invention, the distance measuring instrument rotates and continuously measures distance to obtain a group of numerical values corresponding to the distance and the angle, the numerical values form an image in a coordinate system, the distance and the angle corresponding to the characteristic point are target values, and the characteristic point is a start point or an end point or an inflection point.
As a further improvement of the invention, the initial distance measuring direction of the distance measuring instrument is the same as the reference ruler, namely the initial angle is zero.
When the workpiece is in a non-deviation state as shown in a in fig. 2, a group of numerical values consisting of angles and distances are measured by the distance meter, a corresponding d-alpha coordinate system is established according to the numerical values, and a corresponding image is obtained, as shown in e in fig. 3, because of the specific scanning mode of the distance meter, an obvious inflection point P exists in the image, a value d1 corresponding to the P point is a distance value between a basic origin and a workpiece corner point, and a corresponding value alpha 1 is a scanning rotation angle of the distance meter, so that coordinate values (d 1cos alpha 1, d1sins alpha 1) of the workpiece corner point can be calculated;
when the workpiece is in a normal state as shown in b in fig. 2, a set of numerical values consisting of angles and distances is measured by the distance meter, a corresponding d- α coordinate system is established according to the numerical values, and a corresponding image is obtained, as shown in f in fig. 3, due to the specific scanning mode of the distance meter, two obvious feature points M and N exist in the image, and the numerical values (d 2, α 2), (d 3, α 4) corresponding to the two feature points respectively correspond to two corner points on one side of the workpiece, so that coordinate values (d 2cos α 2, d2sins α 2) and (d 3cos α 3, d3sins α 3) of the two corner points of the workpiece can be calculated.
As a further improvement of the present invention, the offset coefficient in the coefficient correction in step (6) is obtained by calculating a tilt coefficient of a connecting line between two angular points through two sets of objective value simultaneous equations measured and calculated in step (5), that is, a processing correction coefficient.
By the above-described calculated numerical values (d 2cos α 2, d2sins α 2) and (d 3cos α 3, d3sins α 3) simultaneous equation y = kx + b, the tilt coefficient of the workpiece, i.e., the machining correction coefficient, is calculated as the k value.
The embodiment also discloses a correction system with the CCD camera engraving machine, which comprises an image capturing module, an image processing module for processing images, a data measuring and calculating module and a data processing module;
the image capturing module is used for capturing a workpiece position image on the processing table;
the image processing module performs subtraction on the image and performs edge detection on the image;
the data measuring and calculating module is used for measuring and calculating a distance value and a rotation angle value;
and the data processing module carries out statistical analysis calculation on the measured distance value and the rotation angle value.
As a further improvement of the invention, the data processing module measures the distance value and the rotation angle value at the same time.
The invention realizes the positioning and correction of the workpiece in different states and improves the positioning precision of the workpiece by the correction system with the CCD camera engraving machine and the correction method thereof.
It should be noted that, in this document, if there are first and second, etc., relational terms are only used for distinguishing one entity or operation from another entity or operation, and there is no necessarily any requirement or suggestion that any actual relation or order exists between the entities or operations. Also, 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. The correction method of the engraving machine with the CCD camera is characterized by comprising the following steps of:
(1) Initial setting: resetting the CCD camera to be at the basic origin;
(2) Image capture: capturing a workpiece position image on the processing table top through a CCD camera;
(3) Image analysis: analyzing the image, and judging whether the workpiece is deflected:
if not, executing the step (4);
if yes, executing the step (5);
(4) Original positioning: measuring and calculating the distance and offset angle between the basic origin and the angular point of the workpiece, calculating the position information of the angular point of the workpiece, and finishing positioning;
(5) And (3) deviation positioning: measuring and calculating the distance between a basic original point and two angular points of the workpiece, and calculating the position information of the two angular points of the workpiece;
(6) And (3) coefficient correction: calculating the offset coefficient of the workpiece according to the position information of the two angular points in the step (5), obtaining a processing correction coefficient, and finishing positioning;
the image analysis in the step (3) comprises the following specific steps:
(3-1) subtracting the captured image from the initial image to obtain a calculated image only containing the workpiece and the reference scale, wherein the initial image is a blank comparison image not containing the workpiece and the reference scale;
(3-2) carrying out edge detection on the calculated image through a Sobel operator to obtain a processed image only containing edge information of the workpiece and the reference ruler;
(3-3) judging the degree of deviation of the workpiece according to the processing image in the step (3-2);
the specific operation of the step (3-3) is as follows: carrying out linear scanning on the processed image, calculating and comparing the scanning time of the edge information of the workpiece and the reference ruler, and judging whether the scanning time is consistent:
if yes, executing the step (4);
if not, executing the step (5).
2. The calibration method with CCD camera engraver according to claim 1, wherein the capturing of the image on the work surface by the CCD camera in the step (2) of image capturing further includes an image of a scale, and the base origin is on an extension line of the scale.
3. The calibration method for engraving machine with CCD camera as claimed in claim 1, wherein the distance between the basic origin and the corner of the workpiece in the step (4) of original positioning and the step (5) of offset positioning is measured by a distance meter, and the offset angle is measured by the rotation angle of the distance meter.
4. The calibration method of claim 3, wherein the distance meter rotates and continuously measures distance to obtain a set of values corresponding to distance and angle, the values are imaged in a coordinate system, the distance and angle corresponding to the characteristic point are target values, and the characteristic point is a start point or an end point or an inflection point.
5. The calibration method of engraver with CCD camera as claimed in claim 4, wherein the initial ranging direction of the range finder is the same direction as the reference ruler, i.e. the initial angle is zero.
6. The calibration method with CCD camera engraving machine of claim 5, wherein the offset coefficient in the step (6) of coefficient calibration is the tilt coefficient of the line between two corner points calculated by the two sets of simultaneous equations of the target values measured in the step (5), i.e. the machining calibration coefficient.
7. Correction system with CCD camera engraver, characterized in that it is configured to perform the correction method of any one of claims 1 to 6, comprising an image capture module, an image processing module for processing images, a data evaluation module and a data processing module;
the image capturing module is used for capturing a workpiece position image on the processing table;
the image processing module performs subtraction on the image and performs edge detection on the image;
the data measuring and calculating module is used for measuring and calculating a distance value and a rotation angle value;
and the data processing module carries out statistical analysis and calculation on the measured distance value and the rotation angle value.
8. The system of claim 7, wherein the data processing module measures the distance and the rotation angle simultaneously.
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| CN1196031C (en) * | 1999-05-20 | 2005-04-06 | 麦克隆尼克激光***有限公司 | Method for error reduction in lithography |
| JP4825598B2 (en) * | 2006-06-23 | 2011-11-30 | 株式会社ミツトヨ | Calibration method for image measuring device |
| EP2256576A1 (en) * | 2009-05-29 | 2010-12-01 | Datacard Corporation | System for the calibration of operating parameters of a laser engraver |
| CN102615665B (en) * | 2011-06-10 | 2014-04-02 | 苏州谷夫道自动化科技有限公司 | Automatic positioning system and method |
| CN102490523B (en) * | 2011-12-16 | 2014-06-04 | 武汉大学 | Automatic laser engraving system based on computer vision and service method of automatic laser engraving system |
| JP6025386B2 (en) * | 2012-05-02 | 2016-11-16 | キヤノン株式会社 | Image measuring apparatus, image measuring method, and image measuring program |
| CN103692286B (en) * | 2013-12-10 | 2016-03-30 | 北京精雕科技集团有限公司 | A kind of method utilizing digital control processing to remove punching burr |
| CN106626921B (en) * | 2016-09-27 | 2019-07-12 | 宇龙计算机通信科技(深圳)有限公司 | A kind of angle decoration C finishing impression processing method, control device and processing unit (plant) |
| CN107321867A (en) * | 2017-06-07 | 2017-11-07 | 嘉兴宝程自动化设备有限公司 | Full-automatic intelligent punch press feeder and its method for correcting error that camera tilt is installed |
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