CN112950722B - Offset calibration method between camera and dispensing head of dispensing machine - Google Patents
Offset calibration method between camera and dispensing head of dispensing machine Download PDFInfo
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Abstract
The invention discloses a method for calibrating offset between a camera of a dispenser and a dispensing head, which comprises the following steps: arranging an external camera on the dispensing head frame; recording a first mechanical coordinate of the dispensing head when the calibration mark is dispensed; calculating a transformation relation between a second mechanical coordinate of the original camera and the first image coordinate and a transformation relation between a third mechanical coordinate of the add-on camera and the second image coordinate; setting a calibration plate; calculating to obtain a first reference mechanical coordinate and a second reference mechanical coordinate; calculating the offset of the original camera, the external camera and the dispensing head; calculating the offset of the external camera, the original camera and the dispensing head on the whole dispensing platform; and calculating to obtain the offset of the original camera of the dispensing machine, the external camera and all dispensing heads on the whole dispensing platform. Compared with the prior art, the influence of the guide rail precision on the dispensing precision is reduced, and the dispensing precision and the dispensing stability of the dispenser are effectively improved.
Description
Technical Field
The invention relates to a dispenser, in particular to an offset calibration method between a camera of the dispenser and a dispensing head.
Background
When the multi-dispensing head dispenser performs high-precision dispensing production, in order to ensure sufficiently high dispensing precision, each dispensing area needs to be photographed one by one and then dispensed. The accuracy of the offset between the photographing camera and each dispensing head is an important factor influencing the dispensing accuracy.
At present, a commonly used method for calibrating offset of a camera and a dispensing head assumes that the offset is a constant value and is irrelevant to a dispensing position. In the calibration process, the calibration dispensing head is moved to dispense a calibration mark on the working plane, then the camera is moved to photograph the position of the calibration mark, and the offset between the camera and the dispensing head can be calculated. However, in the actual dispenser equipment, due to certain errors in the machining precision and the installation precision of the guide rail parts, the assumption that the offset between the camera and the dispensing head is a constant value cannot be strictly met. This results in the actual accuracy of gluing to be less than the design requirement, can't obtain stable machining precision when batch production equipment.
Disclosure of Invention
The invention aims to provide a method for calibrating offset between a camera and a dispensing head of a dispenser, which aims to solve the technical problems that the offset change values of the camera and the dispensing head at different dispensing positions can be accurately obtained, the problem that the offset of the camera and the dispensing head is influenced by the precision of a guide rail is solved, and the precision and the stability of dispensing production of the dispenser are effectively improved.
In order to solve the problems, the invention adopts the following technical scheme: a calibration method for offset between a camera of a dispenser and a dispensing head comprises the following steps:
s1, arranging an external camera which moves together with a dispensing head on a dispensing head frame of a dispensing machine;
s2, driving a dispensing head to be calibrated to move to the center of a dispensing platform and move downwards, dispensing colored glue at the center of the dispensing platform to serve as a calibration mark, and recording a first mechanical coordinate (Xmnr, ymnr) of the dispensing head when the dispensing head dispenses the calibration mark;
s3, moving the external camera and the original camera on a 3 x 3 array position point respectively, photographing the calibration mark in the step S2, recording a second mechanical coordinate (Xma, yma) of the original camera, a first image coordinate (Xia, yi) corresponding to the second mechanical coordinate (Xma, yma) of the original camera, a third mechanical coordinate (Xmb, ymb) of the external camera and a second image coordinate (Xib, yib) corresponding to the third mechanical coordinate (Xmb, yib) of the external camera during photographing respectively, and calculating a transformation relation between the second mechanical coordinate of the original camera and the first image coordinate and a transformation relation between the third mechanical coordinate of the external camera and the second image coordinate;
the step S3 comprises the following steps:
step S31, the original camera and the external camera respectively move to each array position point, take pictures and record the calibration marks, traverse 9 array position points, and obtain a second mechanical coordinate of the original camera and a corresponding first image coordinate, a third mechanical coordinate of the external camera and a corresponding second image coordinate, wherein the transformation relation of the first mechanical coordinate and the second mechanical coordinate is expressed by the following formula (1);
substituting the second mechanical coordinate (Xma, yma), the first image coordinate (Xia, yia), the third mechanical coordinate (Xmb, ymb), and the second image coordinate (Xib, yib) into formula (1) to calculate values of parameters m00, m01, m02, m10, m11, m12, m20, m21, m22, m30, m31, m32 to obtain transformation parameters in a transformation relation;
step S32, substituting the image center coordinates (Xiar, YIar) of the original camera and the image center coordinates (Xibr, YIbr) of the external camera into the following formula (2) to calculate the fourth mechanical coordinates (Xmar, ymar) of the original camera when aligning the calibration mark and the fifth mechanical coordinates (Xmbr, ymbr) of the external camera when aligning the calibration mark,
s4, arranging a calibration plate on the dispensing platform;
s5, respectively photographing all the dots on the calibration plate through the original camera and the external camera, and recording a sixth mechanical coordinate (Xmact) of the original camera during photographing each time ij ,Ymact ij ) And corresponding third image coordinates (Xiact) ij ,Yiact ij ) And a seventh mechanical coordinate (Xmbct) of the add-on camera ij ,Ymbct ij ) And corresponding fourth image coordinates (Xibcc) ij ,Yibct ij ) Wherein, subscript i represents the row number of the dots in the calibration plate, and subscript j represents the column number of the dots in the calibration plate; and calculating a first reference mechanical coordinate (Xmac) when the original camera is aligned with the dot by the following equation (3) ij ,Ymac ij ) Second reference mechanical coordinates (Xmbc) when aligning with the dots of the add-on camera ij ,Ymbc ij )；
Step S6, obtaining a first reference mechanical coordinate (Xmac) ij ,Ymac ij ) And a second reference mechanical coordinate (Xmbc) ij ,Ymbc ij ) Then, the first reference mechanical coordinate (Xmac) is used ij ,Ymac ij ) And a second reference mechanical coordinate (Xmbc) ij ,Ymbc ij ) Calculating eighth mechanical coordinates (Xmac, ymac) and ninth mechanical coordinates (Xmbc, ymbc) when the original camera and the add-on camera are aligned with any calibration plate coordinates (Xc, yc) except for the dots in the calibration plate as a reference, wherein subscript i in the first and second reference mechanical coordinates represents the row number of the dots in the calibration plate, and subscript j represents the column number of the dots in the calibration plate; and calculating the first calibration plate coordinate (Xcam, ycam) and the external hanging phase aligned by the original camera when the original camera and the external hanging camera are positioned at any mechanical coordinate (Xm, ym) except the first and second reference mechanical coordinatesThe coordinate (Xcbm, ycbm) of the second calibration plate aligned by the camera is used for obtaining the transformation relation between the coordinate of the original camera positioned between any mechanical coordinate and the coordinate of the first calibration plate aligned with the calibration plate, and the transformation relation between the coordinate of the external camera positioned between any mechanical coordinate and the coordinate of the second calibration plate aligned with the calibration plate;
s7, calculating the offset of the original camera, the external camera and the dispensing head according to the transformation relation between the original camera and the external camera in any mechanical coordinate and the first calibration plate coordinate and the second calibration plate coordinate of the alignment calibration plate;
s8, calculating the offset of the external camera, the original camera and the dispensing head on the whole dispensing platform according to the offset of the original camera, the external camera and the dispensing head obtained in the step S7 and the conversion relation calculated in the step S6;
and S9, repeating the step S2, the step S3 and the step S5 to the step S8 to calculate the offset of the original camera and the plug-in camera of the glue dispenser and all glue dispensing heads on the whole glue dispensing platform.
Further, the eighth mechanical coordinates (Xmac, ymac) and the ninth mechanical coordinates (Xmbc, ymbc) when the coordinates (Xc, yc) of any calibration board except the dots in the alignment calibration board of the original camera and the external camera are calculated in step S6 are specifically: obtaining the calibration plate coordinates (Xc) of four dots near the arbitrary calibration plate coordinates (Xc, yc) ij ,Yc ij )、(Xc ij+1 ,Yc ij+1 )、(Xc i+1j ,Yc i+1j )、(Xc i+1j+1 ,Yc i+1j+1 ) (ii) a The original camera is aligned to the calibration plate coordinates (Xc) of the first dot ij ,Yc ij ) The first reference mechanical coordinate of time is (Xmac) ij ,Ymac ij ) Alignment of calibration plate coordinates (Xc) of the second dot ij+1 ,Yc ij+1 ) The first reference machine coordinate of time is (Xmac) ij+1 ,Ymac ij+1 ) Alignment of calibration plate coordinates (Xc) of third dot i+1j ,Yc i+1j ) The first reference machine coordinate of time is (Xmac) i+1j ,Ymac i+1j ) Alignment of calibration plate coordinates (Xc) of the fourth dot i+1j+1 ,Yc i+1j+1 ) The first reference machine coordinate of time is (Xmac) i+1j+1 ,Ymac i+1j+1 ) Calculated by the following formula (4)Calculating an eighth mechanical coordinate (Xmac, ymac) of any calibration plate coordinate (Xc, yc) except the dots in the original camera alignment calibration plate;
wherein, subscript i represents the row number of the dots in the calibration plate, and subscript j represents the column number of the dots in the calibration plate;
obtaining calibration plate coordinates (Xc) of the external camera aiming at the first round point ij ,Yc ij ) The second reference mechanical coordinate of time is (Xmbc) ij ,Ymbc ij ) Alignment of calibration plate coordinates (Xc) of the second dot ij+1 ,Yc ij+1 ) The second reference mechanical coordinate of time is (Xmbc) ij+1 ,Ymbc ij+1 ) Alignment of calibration plate coordinates (Xc) of third dot i+1j ,Yc i+1j ) The second reference mechanical coordinate of time is (Xmbc) i+1j ,Ymbc i+1j ) Alignment to the calibration coordinates (Xc) of the fourth dot i+1j+1 ,Yc i+1j+1 ) The second reference mechanical coordinate of time is (Xmbc) i+1j+1 ,Ymbc i+1j+1 ) Calculating a ninth mechanical coordinate (Xmbc, ymbc) of the external camera when aiming at any calibration plate coordinate (Xc, yc) except the dot in the calibration plate through the following formula (5);
where subscript i represents the row number of the dots in the calibration plate and subscript j represents the column number of the dots in the calibration plate.
Further, when the original camera and the add-on camera are calculated to be located at any mechanical coordinate (Xm, ym) other than the first and second reference mechanical coordinates in step S6, the first calibration plate coordinate (Xcam, ycam) aligned by the original camera and the second calibration plate coordinate (Xcbm, ycbm) aligned by the add-on camera are specifically:
when the original camera is positioned at any mechanical coordinate (Xm, ym), acquiring a first reference mechanical coordinate corresponding to four dots near the calibration plate coordinate of the aligned calibration plate, and aligning the calibration plate coordinate (Xc) of a first dot in the ith row and the jth column by the original camera ij ,Yc ij ) The first reference machine coordinate of time is (Xmac) ij ,Ymac ij ) Alignment of the calibration coordinates (Xc) of the second dot in the ith row and the j +1 th column ij+1 ,Yc ij+1 ) The first reference mechanical coordinate of time is (Xmac) ij+1 ,Ymac ij+1 ) Alignment of the calibration plate coordinates (Xc) of the third dot in row (i + 1) and column (j) i+1j ,Yc i+1j ) The first reference mechanical coordinate of time is (Xmac) i+1j ,Ymac i+1j ) Alignment of calibration plate coordinates (Xc) of the fourth dot of row (i + 1) and column (j + 1) i+1j+1 ,Yc i+1j+1 ) The first reference mechanical coordinate is (Xmac) i+1j+1 ,Ymac i+1j+1 ) When the original camera is located at any mechanical coordinate (Xm, ym) except the first reference mechanical coordinate point, the first calibration plate coordinate (Xcam, ym) of the calibration plate aimed at by the original camera is obtained through calculation according to the following formula (6);
wherein, subscript i represents the row number of the dots in the calibration plate, and subscript j represents the column number of the dots in the calibration plate;
acquiring a second reference mechanical coordinate corresponding to four dots near the calibration plate coordinate of the calibration plate aligned with the external camera when the external camera is positioned at the any mechanical coordinate (Xm, ym), and aligning the external camera to the calibration plate coordinate (Xc) of the first dot of the ith row and the jth column ij ,Yc ij ) The second reference mechanical coordinate of time is (Xmbc) ij ,Ymbc ij ) The calibration coordinates (Xc) of the second dot aligned with the ith row and the jth +1 column ij+1 ,Yc ij+1 ) The second reference mechanical coordinate of time is (Xmbc) ij+1 ,Ymbc ij+1 ) Alignment of the calibration plate coordinates (Xc) of the third dot in row (i + 1) and column (j) i+1j ,Yc i+1j ) Second of timeThe reference machine coordinate is (Xmbc) i+1j ,Ymbc i+1j ) The calibration coordinates (Xc) of the fourth dot aligned with the (i + 1) th row and the (j + 1) th column i+1j+1 ,Yc i+1j+1 ) The second reference mechanical coordinate of time is (Xmbc) i+1j+1 ,Ymbc i+1j+1 ) Calculating second calibration plate coordinates (Xcbm, ycbm) of a calibration plate to which the exterior camera is directed when the exterior camera is at any mechanical coordinates (Xm, ym) other than the second reference mechanical coordinates by the following formula (7);
where subscript i represents the row number of the dots in the calibration plate and subscript j represents the column number of the dots in the calibration plate.
Further, step S7 specifically includes:
step S71, according to the first mechanical coordinate (Xmnr, ymnr) when the point gum head points out the calibration mark in the step S2 and the calibration plate coordinate (Xc) of four dots near the calibration plate coordinate of the original camera alignment calibration plate when the first mechanical coordinate is positioned st ,Yc st )、(Xc st+1 ,Yc st+1 )、(Xc s+1t ,Yc s+1t )、(Xc s+1t+1 ,Yc s+1t+1 ) And first reference mechanical coordinates (Xmac) corresponding to the dots st ,Ymac st )、(Xmac st+1 ,Ymac st+1 )、(Xmac s+1t ,Ymac s+1t )、(Xmac s+1t+1 ,Ymac s+1t+1 ) The external camera is aligned with the calibration board coordinates (Xc) of four dots near the calibration board coordinates of the calibration board pq ,Yc pq )、(Xc pq+1 ,Yc pq+1 )、(Xc p+1q ,Yc p+1q )、(Xc p+1q+1 ,Yc p+1q+1 ) And second reference mechanical coordinates (Xmbc) corresponding to the dots pq ,Ymbc pq )、(Xmbc pq+1 ,Ymbc pq+1 )、(Xmbc p+1q ,Ymbc p+1q )、(Xmbc p+1q+1 ,Ymbc p+1q+1 ) Wherein, subscript s represents the line number of dots near the calibration plate coordinate of the calibration plate aimed at by the original camera, and subscript t represents the line number of dots aimed at by the original cameraThe method comprises the following steps that column numbers of dots near the coordinates of a calibration plate of the calibration plate are numbered, subscript p represents the row numbers of dots near the coordinates of the calibration plate, which are aligned with the calibration plate, of an external camera, subscript q represents the column numbers of dots near the coordinates of the calibration plate, which are aligned with the calibration plate, of the external camera, and the coordinates (Xcar, ycar) of the calibration plate, which are aligned with an original camera when the calibration marks are clicked, and the coordinates (Xcbr, ycbr) of the calibration plate, which are aligned with the external camera, are obtained through calculation of the following formula (8);
step S72, according to the fourth mechanical coordinates (Xmar, ymar) when the original camera aligns the mark and the coordinates (Xc) of the calibration plate of the four nearby dots in the calibration plate of the calibration mark uv ,Yc uv )、(Xc uv+1 ,Yc uv+1 )、(Xc u+1v ,Yc u+1v )、(Xc u+1v+1 ,Yc u+1v+1 ) And first reference mechanical coordinates (Xmac) corresponding to the dots uv ,Ymac uv )、(Xmac uv+1 ,Ymac uv+1 )、(Xmac u+1v ,Ymac u+1v )、(Xmac u+1v+1 ,Ymac u+1v+1 ) Calculating calibration plate coordinates (Xcnr, ycnr) of the calibration marks in the calibration plate by the following formula (9), wherein a subscript u denotes a row number of a dot near the calibration mark in the calibration plate, and a subscript v denotes a column number of a dot near the calibration mark in the calibration plate;
step S73, calculating the coordinate (Xcar, ycar) of a calibration plate aligned with the original camera when the calibration mark is clicked out, the coordinate (Xcbr, ycbr) of the calibration plate aligned with the external camera and the coordinate (Xcnr, ycnr) of the calibration plate aligned with the calibration mark, and calculating the offset of the original camera, the external camera and the dispensing head according to the following formula (10);
further, step S8 includes:
step S81, when the original camera is aligned with the dots on the ith row and the jth column, the mechanical coordinate is (Xmac) ij ,Ymac ij ) The calibration plate coordinate of the dot is (Xc) ij ,Yc ij ) The second reference mechanical coordinate corresponding to four dots near the calibration plate coordinate of the external camera alignment calibration plate is (Xmbc) pq ,Ymbc pq )、(Xmbc pq+1 ,Ymbc pq+1 )、(Xmbc p+1q ,Ymbc p+1q )、(Xmbc p+1q+1 ,Ymbc p+1q+1 ) The coordinates of the dot calibration plate are (Xc) pq ,Yc pq )、(Xc pq+1 ,Yc pq+1 )、(Xc p+1q ,Yc p+1q )、(Xc p+1q+1 ,Yc p+1q+1 ) Wherein, subscript i represents the row number of the dots of the calibration plate, and subscript j represents the column number of the dots of the calibration plate; subscript p represents the row number of dots near the calibration plate coordinates of the external camera alignment calibration plate, and subscript q represents the column number of dots near the calibration plate coordinates of the external camera alignment calibration plate; substituting the first reference mechanical coordinate, the second reference mechanical coordinate and the corresponding calibration plate coordinate obtained in the step S5 into the following formula (11) for calculation to obtain the calibration plate coordinate (Xcba) of the external camera aligning to the calibration plate ij ,Ycba ij ) Calibration plate coordinates (Xcna) for dispensing head alignment calibration plate ij ,Ycnb ij )；
Step S82, aligning the calibration plate coordinate (Xcna) of the calibration plate with the dispensing head ij ,Ycnb ij ) As a glueHead reference coordinates, four dispensing head reference coordinates near the arbitrary calibration plate coordinates (Xc, yc) are obtained, and (Xcna) is respectively ij ,Ycna ij )，(Xcna ij+1 ,Ycna ij+1 )，(Xcna i+1j ,Ycna i+1j )，(Xcna i+1j+1 ,Ycna i+1j+1 ) The corresponding machine coordinate is (Xmac) ij ,Ymac ij )，(Xmac ij+1 ,Ymac ij+1 )，(Xmac i+1j ,Ymac i+1j )，(Xmac i+1j+1 ,Ymac i+1j+1 ) The mechanical coordinates (Xmnc, ymnc) of the dispensing head when it is aligned with the coordinates of any calibration plate other than the dispensing head reference coordinates in the calibration plate are calculated by the following formula (12):
further, in the step S4, the effective area of the calibration plate covers the working range of the dispensing platform, the diameter of the dot in the calibration plate is 5mm, and the interval between the centers of two adjacent dots is 10mm.
Further, in step S31, the original camera and the add-on camera move in a path of a shape of a Chinese character 'ji'.
Compared with the prior art, the invention has the advantages that the external camera and the original camera of the dispenser are arranged to take photos of the calibration mark and take photos of the round points on the calibration plate, and the relation between the offset of the original camera, the external camera and the dispensing head on the whole dispensing platform and the dispensing position is calculated through the coordinate conversion relation among the mechanical coordinate, the image coordinate and the calibration plate coordinate, so that the influence of the guide rail precision on the dispensing precision is reduced under the condition of not increasing the hardware cost, and the dispensing precision and the dispensing stability of the dispenser are effectively improved.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic view of a calibration plate of the present invention.
Fig. 3 is a schematic view of the position of a dual camera of the present invention.
Fig. 4 is a detailed flowchart of step S7 of the present invention.
Fig. 5 is a detailed flowchart of step S8 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples.
As shown in fig. 1, the invention discloses a method for calibrating offset between a camera of a dispenser and a dispensing head, which comprises the following steps:
s1, arranging an external camera which moves together with a dispensing head on a dispensing headstock of a dispensing machine, wherein a lens of the external camera faces a dispensing platform of the dispensing machine and shoots together with an original camera on the dispensing headstock; as shown in fig. 3, the external cameras are symmetrically arranged at two opposite ends of the dispensing head frame;
s2, driving a dispensing head to be calibrated to move to the center of a dispensing platform and move downwards, dispensing colored glue at the center of the dispensing platform to serve as a calibration mark, and recording a first mechanical coordinate (Xmnr, ymnr) of the dispensing head when the dispensing head dispenses the calibration mark;
s3, respectively moving the external camera and the original camera on a 3 x 3 array position point, photographing the calibration mark in the step S2, respectively recording a second mechanical coordinate (Xma, yma) of the original camera, a first image coordinate (Xia, yi) corresponding to the second mechanical coordinate (Xma, yma) of the original camera, a third mechanical coordinate (Xmb, ymb) of the external camera, and a second image coordinate (Xib, yib) corresponding to the third mechanical coordinate (Xmb, yib) of the external camera during photographing, and calculating to obtain a transformation relation between the second mechanical coordinate of the original camera and the first image coordinate and a transformation relation between the third mechanical coordinate of the external camera and the second image coordinate;
specifically, the method comprises the following steps:
s31, the original camera and the external camera move to each array position point respectively, take pictures and record the calibration marks, move along a ' Chinese ' character ' shaped path, and traverse 9 array position points to obtain a second mechanical coordinate of the original camera, a corresponding first image coordinate, a third mechanical coordinate of the external camera and a corresponding second image coordinate, wherein the transformation relation of the first mechanical coordinate and the second mechanical coordinate is expressed by the following formula (1);
the values of the parameters m00, m01, m02, m10, m11, m12, m20, m21, m22, m30, m31, m32 can be calculated by substituting the second mechanical coordinates (Xma, yma), the first image coordinates (Xia, yia), the third mechanical coordinates (Xmb, ymb), and the second image coordinates (Xib, yib) into the formula (1), so as to obtain the transformation parameters in the transformation relation.
Step S32, substituting the image center coordinates (Xiar, YIar) of the original camera and the image center coordinates (Xibr, YIbr) of the external camera into the following formula (2), so as to calculate the fourth mechanical coordinates (Xmar, ymar) of the original camera when aligning the calibration mark and the fifth mechanical coordinates (Xmbr, ymbr) of the external camera when aligning the calibration mark,
the image center coordinates are obtained by dividing the length and width of the external camera and the original camera by 2.
In the present invention, the spacing between the array position points may be equal or unequal.
S4, arranging a calibration plate on the dispensing platform, enabling each edge of the calibration plate to be parallel to an X axis and a Y axis of the dispensing platform respectively, covering the working range of the dispensing platform by the effective area of the calibration plate, enabling the diameter of a dot in the calibration plate to be 5mm, enabling the interval between the centers of two adjacent dots to be 10mm, and enabling the dot array to be distributed on the whole calibration plate; the dot interval is larger than the diameter of the dots, so that the two dots are not overlapped, and the number of the reference points is too small when the interval is too large, which is not beneficial to improving the calibration precision. And establishing a coordinate system by using a calibration plate, and recording the coordinates of the calibration plate as (Xc, yc).
S5, respectively photographing all the dots on the calibration plate through the original camera and the external camera, and recording a sixth mechanical coordinate (Xmact) of the original camera during photographing each time ij ,Ymact ij ) And corresponding third image coordinates (Xiact) ij ,Yiact ij ) And a seventh mechanical coordinate (Xmbct) of the add-on camera ij ,Ymbct ij ) And corresponding fourth image coordinates (Xidct) ij ,Yibct ij ) Where subscript i represents the row number of the dots in the calibration plate and subscript j represents the column number of the dots in the calibration plate.
When the camera is not completely aligned with the dots during photographing, the first reference mechanical coordinate (Xmac) of the original camera when the dots are aligned with the dots is calculated by the following formula (3) ij ,Ymac ij ) Second reference mechanical coordinates (Xmbc) when aligning with the dots of the add-on camera ij ,Ymbc ij )；
Where subscript i represents the row number of the dots in the calibration plate and subscript j represents the column number of the dots in the calibration plate.
Step S6, obtaining a first reference mechanical coordinate (Xmac) when the original camera and the plug-in camera align to a dot in the step S5 ij ,Ymac ij ) And a second reference mechanical coordinate (Xmbc) ij ,Ymbc ij ) Then, the first reference mechanical coordinate (Xmac) corresponding to the dots is used ij ,Ymac ij ) And a second reference mechanical coordinate (Xmbc) ij ,Ymbc ij ) Calculating eighth mechanical coordinates (Xmac, ymac) and ninth mechanical coordinates (Xmbc, ymbc) when the original camera and the add-on camera are aligned with any calibration plate coordinates (Xc, yc) except for the dots in the calibration plate as a reference, wherein subscript i in the first and second reference mechanical coordinates represents the row number of the dots in the calibration plate, and subscript j represents the column number of the dots in the calibration plate; the method comprises the steps of respectively aligning an original camera and an external camera to coordinates (Xc, yc) of an arbitrary calibration plate except for dots in the calibration plate, and first reference mechanical coordinates and second reference mechanical coordinates corresponding to four dots near the coordinates of the arbitrary calibration plate, and calculating to obtain eighth mechanical coordinates (Xmac, ymac) and ninth mechanical coordinates (Xmbc, ymbc), specifically:
set the coordinates (Xc) of the arbitrary calibration plateYc) among the dots in the ith row, the ith +1 th row, the jth column and the jth +1 th column, then the calibration board coordinates of the four dots near the calibration board coordinates are respectively expressed as (Xc) of the calibration board coordinates of the dots in the ith row and the jth column ij ,Yc ij ) The calibration plate coordinate of the ith row and the j +1 th column of dots is (Xc) ij+1 ,Yc ij+1 ) The coordinate of the calibration plate of the (i + 1) th row and the (j) th column of dots is (Xc) i+1j ,Yc i+1j ) The calibration board coordinate of the dots of the (i + 1) th row and the (j + 1) th column is (Xc) i+1j+1 ,Yc i+1j+1 ). The original camera is aligned with the calibration plate coordinate (Xc) of the first dot of the ith row and jth column ij ,Yc ij ) The first reference mechanical coordinate of time is (Xmac) ij ,Ymac ij ) The calibration coordinates (Xc) of the second dot aligned with the ith row and the jth +1 column ij+1 ,Yc ij+1 ) The first reference machine coordinate of time is (Xmac) ij+1 ,Ymac ij+1 ) Calibration plate coordinates (Xc) of the third dot aligned with the (i + 1) th row and the (j) th column i+1j ,Yc i+1j ) The first reference mechanical coordinate of time is (Xmac) i+1j ,Ymac i+1j ) Alignment of calibration plate coordinates (Xc) of the fourth dot of row (i + 1) and column (j + 1) i+1j+1 ,Yc i+1j+1 ) The first reference mechanical coordinate of time is (Xmac) i+1j+1 ,Ymac i+1j+1 ) (ii) a And (4) calculating an eighth mechanical coordinate (Xmac, ymac) of the original camera when the coordinate (Xc, yc) of any calibration plate except the circular point in the calibration plate is aligned with the original camera.
Where subscript i represents the row number of the dots in the calibration plate and subscript j represents the column number of the dots in the calibration plate.
Setting an external hanging camera to align with the coordinates (Xc) of the calibration plate of the first dots of the ith row and the jth column ij ,Yc ij ) The second reference mechanical coordinate of time is (Xmbc) ij ,Ymbc ij ) The calibration coordinates (Xc) of the second dot aligned with the ith row and the jth +1 column ij+1 ,Yc ij+1 ) The second reference mechanical coordinate of time is (Xmbc) ij+1 ,Ymbc ij+1 ) Aligned with the jth column of the (i + 1) th rowCalibration plate coordinates (Xc) of three dots i+1j ,Yc i+1j ) The second reference mechanical coordinate of time is (Xmbc) i+1j ,Ymbc i+1j ) Alignment of calibration plate coordinates (Xc) of the fourth dot of row (i + 1) and column (j + 1) i+1j+1 ,Yc i+1j+1 ) The second reference mechanical coordinate of time is (Xmbc) i+1j+1 ,Ymbc i+1j+1 ) Calculating and obtaining ninth mechanical coordinates (Xmbc, ymbc) of the external camera when the coordinates (Xc, yc) of the arbitrary calibration plate except the dots in the calibration plate are aligned through the following formula (5);
where subscript i represents the row number of the dots in the calibration plate and subscript j represents the column number of the dots in the calibration plate.
Assuming that the coordinates (Xc, yc) of the arbitrary calibration plate are between the dots of the 1 st, 2 nd, 1 st and 2 nd rows, columns and the 2 nd column of the calibration plate, the coordinates of the calibration plate of four dots near the coordinates of the calibration plate are expressed as (Xc) of the dots of the 1 st row and 1 st column of the calibration plate 11 ,Yc 11 ) The dots in row 1 and column 2 are (Xc) 12 ,Yc 12 ) The dots in row 2 and column 1 are (Xc) 21 ,Yc 21 ) The dots in row 2 and column 2 are (Xc) 22 ,Yc 22 ). The original camera is aligned with the dots (Xc) of the 1 st row and the 1 st column 11 ,Yc 11 ) The first reference machine coordinate of time is (Xmac) 11 ,Ymac 11 ) Aligned with the dots of row 1 and column 2 (Xc) 12 ,Yc 12 ) The first reference mechanical coordinate of time is (Xmac) 12 ,Ymac 12 ) Aligned with the dots (Xc) of row 2 and column 1 21 ,Yc 21 ) The first reference mechanical coordinate of time is (Xmac) 21 ,Ymac 21 ) Aligned with the 2 nd row and column dots (Xc) 22 ,Yc 22 ) The first reference machine coordinate of time is (Xmac) 22 ,Ymac 22 ). Then the eighth mechanical coordinates (Xmac, ymac) when the original camera is aligned with the calibration plate coordinates (Xc, yc) other than the dots in the calibration plate can be calculated by substituting equation (4):
suppose that the external camera is aimed at the 1 st row and 1 st column dots (Xc) 11 ,Yc 11 ) The second reference mechanical coordinate of time is (Xmbc) 11 ,Ymbc 11 ) Aligned with the dots (Xc) of row 1 and column 2 12 ,Yc 12 ) The second reference mechanical coordinate of time is (Xmbc) 12 ,Ymbc 12 ) Aligned with the dots (Xc) of row 2 and column 1 21 ,Yc 21 ) The second reference mechanical coordinate of time is (Xmbc) 21 ,Ymbc 21 ) Aligned with the 2 nd row and column dots (Xc) 22 ,Yc 22 ) The second reference mechanical coordinate of time is (Xmbc) 22 ,Ymbc 22 ). The ninth mechanical coordinate (Xmbc, ymbc) at which the external camera is directed to the arbitrary calibration plate coordinate (Xc, yc) in addition to the dots in the calibration plate can be calculated by the following formula:
step S6 also comprises, with the first reference mechanical coordinate (Xmac) ij ,Ymac ij ) And a second reference mechanical coordinate (Xmbc) ij ,Ymbc ij ) When the original camera and the external camera are positioned at any mechanical coordinate (Xm, ym) except the first and second reference mechanical coordinates, calculating a first calibration plate coordinate (Xcam, ycam) aligned by the original camera and a second calibration plate coordinate (Xcbm, ycbm) aligned by the external camera to obtain a transformation relation between the any mechanical coordinate of the original camera and the first calibration plate coordinate of the alignment calibration plate, and the external camera is positioned at the transformation relation between the any mechanical coordinate and the second calibration plate coordinate of the alignment calibration plate;
specifically, when the original camera is at the arbitrary mechanical coordinate (Xm, ym), a first reference mechanical coordinate corresponding to four dots near the calibration plate coordinate of the aligned calibration plate is acquired, and the original camera is set to be at the arbitrary mechanical coordinate (X)m, ym), the calibration plate coordinates (Xcam, ycam) of the aligned calibration plate are among the dots of the ith, ith +1, jth and jth +1 rows, the calibration plate coordinates of the four dots are respectively expressed as (Xc) for the dots of the ith row and jth column ij ,Yc ij ) The ith row and the j +1 th column have dots of (Xc) ij+1 ,Yc ij+1 ) The dots in the (i + 1) th row and the (j) th column are (Xc) i+1j ,Yc i+1j ) The dots in the (i + 1) th row and the (j + 1) th column are (Xc) i+1j+1 ,Yc i+1j+1 ). The original camera is aligned with the calibration plate coordinate (Xc) of the first dot of the ith row and jth column ij ,Yc ij ) The first reference machine coordinate of time is (Xmac) ij ,Ymac ij ) Alignment of the calibration coordinates (Xc) of the second dot in the ith row and the j +1 th column ij+1 ,Yc ij+1 ) The first reference mechanical coordinate of time is (Xmac) ij+1 ,Ymac ij+1 ) Calibration plate coordinates (Xc) of the third dot aligned with the (i + 1) th row and the (j) th column i+1j ,Yc i+1j ) The first reference machine coordinate of time is (Xmac) i+1j ,Ymac i+1j ) Alignment of calibration plate coordinates (Xc) of the fourth dot of row (i + 1) and column (j + 1) i+1j+1 ,Yc i+1j+1 ) The first reference mechanical coordinate is (Xmac) i+1j+1 ,Ymac i+1j+1 ) When the original camera is located at any mechanical coordinate (Xm, ym) except the first reference mechanical coordinate point, the first calibration plate coordinate (Xcam, ym) of the calibration plate aimed at by the original camera is obtained through calculation according to the following formula (6);
where subscript i represents the row number of the dots in the calibration plate and subscript j represents the column number of the dots in the calibration plate.
Acquiring a second reference mechanical coordinate corresponding to four dots near the calibration plate coordinate of the calibration plate aimed at by the external camera when the external camera is positioned at the any mechanical coordinate (Xm, ym), and setting the calibration plate coordinate (Xc) of the first dot of the i-th row and the j-th column aimed at by the external camera ij ,Yc ij ) The second reference mechanical coordinate of time is (Xmbc) ij ,Ymbc ij ) Alignment of the calibration coordinates (Xc) of the second dot in the ith row and the j +1 th column ij+1 ,Yc ij+1 ) The second reference mechanical coordinate of time is (Xmbc) ij+1 ,Ymbc ij+1 ) Alignment of the calibration plate coordinates (Xc) of the third dot in row (i + 1) and column (j) i+1j ,Yc i+1j ) The second reference mechanical coordinate of time is (Xmbc) i+1j ,Ymbc i+1j ) The calibration coordinates (Xc) of the fourth dot aligned with the (i + 1) th row and the (j + 1) th column i+1j+1 ,Yc i+1j+1 ) The second reference mechanical coordinate of time is (Xmbc) i+1j+1 ,Ymbc i+1j+1 ) Second calibration plate coordinates (Xcbm, ycbm) of a calibration plate at which the external camera is aligned when the external camera is at any mechanical coordinates (Xm, ym) other than the second reference mechanical coordinates are calculated by the following formula (7);
where subscript i represents the row number of the dots in the calibration plate and subscript j represents the column number of the dots in the calibration plate.
Assuming that the original camera is at the arbitrary mechanical coordinates (Xm, ym), the calibration plate coordinates (Xcam, ycam) of the original camera alignment calibration plate are between the dots of the 3 rd row, the 4 th row, the 3 rd column and the 4 th column, the calibration plate coordinates of the four dots are respectively expressed as (Xc) for the dots of the 3 rd row and the 3 rd column in the 3 rd row 33 ,Yc 33 ) The dots in row 3 and column 4 are (Xc) 34 ,Yc 34 ) The dots in row 4 and column 3 are (Xc) 43 ,Yc 43 ) The dots in row 4 and column 4 are (Xc) 44 ,Yc 44 ). The original camera is aligned with the dots (Xc) on the 3 rd row and 3 rd column 33 ,Yc 33 ) The first reference machine coordinate of time is (Xmac) 33 ,Ymac 33 ) Aligned with the dots (Xc) in row 3 and column 4 34 ,Yc 34 ) The first reference machine coordinate of time is (Xmac) 34 ,Ymac 34 ) Aligned with dots (Xc) in row 4 and column 3 43 ,Yc 43 ) The first reference machine coordinate of time is (Xmac) 43 ,Ymac 43 )，Aligned with row 4 and column 4 dots (Xc) 44 ,Yc 44 ) The first reference mechanical coordinate of time is (Xmac) 44 ,Ymac 44 ). Then the first calibration plate coordinates (Xcam, ycam) of the original camera aligned to the calibration plate when the original camera is at the arbitrary mechanical coordinates (Xm, ym) can be calculated by the following formula;
similarly, assuming that the external camera is at any mechanical coordinate (Xm, ym), the second calibration plate coordinate (Xcbm, ycbm) of the external camera aiming at the calibration plate is between the dots in the 3 rd row, the 4 th row, the 8 th column and the 9 th column, the calibration plate coordinates of the four nearby dots are respectively expressed as (Xc) which is the calibration plate coordinate of the dots in the 3 rd row and the 8 th column 38 ,Yc 38 ) The calibration plate coordinates of the dots of row 3 and column 9 are (Xc) 39 ,Yc 39 ) The calibration plate coordinates of the dots of row 4 and column 8 are (Xc) 48 ,Yc 48 ) The calibration plate coordinates of the dots of row 4 and column 9 are (Xc) 49 ,Yc 49 ). The coordinate of the calibration plate of the external camera aiming at the dots of the 3 rd row and the 8 th column is (Xc) 38 ,Yc 38 ) The second reference mechanical coordinate of time is (Xmbc) 38 ,Ymbc 38 ) Alignment to calibration plate coordinates (Xc) of dots in row 3, column 9 39 ,Yc 39 ) Second reference mechanical coordinates (Xmbc) 39 ,Ymbc 39 ) Alignment of calibration plate coordinates (Xc) for the dots of row 4 and column 8 48 ,Yc 48 ) The second reference mechanical coordinate of time is (Xmbc) 48 ,Ymbc 48 ) Alignment to calibration plate coordinates (Xc) of dots of row 4, column 9 49 ,Yc 49 ) The second reference mechanical coordinate of time is (Xmbc) 49 ,Ymbc 49 ). Then the second calibration plate coordinates (Xcbm, ycbm) of the external camera directed to the calibration plate when the external camera is at the mechanical coordinates (Xm, ym) can be calculated by the following formula;
and respectively obtaining the transformation relation between the original camera at any mechanical coordinate and the first calibration plate coordinate of the alignment calibration plate and the transformation relation between the external camera at any mechanical coordinate and the second calibration plate coordinate of the alignment calibration plate through the calculation.
S7, calculating the offset of the original camera, the external camera and the dispensing head according to the transformation relation between the original camera and the external camera in any mechanical coordinate and the first and second calibration plate coordinates of the alignment calibration plate obtained in the step S6;
in particular, as shown in figure 4,
step S71, according to the first mechanical coordinate (Xmnr, ymnr) when the point gum head points out the calibration mark in the step S2 and the calibration plate coordinate (Xc) of four dots near the calibration plate coordinate of the original camera alignment calibration plate when the first mechanical coordinate is positioned st ,Yc st )、(Xc st+1 ,Yc st+1 )、(Xc s+1t ,Yc s+1t )、(Xc s+1t+1 ,Yc s+1t+1 ) And first reference mechanical coordinates (Xmac) corresponding to the dots st ,Ymac st )、(Xmac st+1 ,Ymac st+1 )、(Xmac s+1t ,Ymac s+1t )、(Xmac s+1t+1 ,Ymac s+1t+1 ) The external camera is aligned with the calibration board coordinates (Xc) of four dots near the calibration board coordinates of the calibration board pq ,Yc pq )、(Xc pq+1 ,Yc pq+1 )、(Xc p+1q ,Yc p+1q )、(Xc p+1q+1 ,Yc p+1q+1 ) And second reference mechanical coordinates (Xmbc) corresponding to the dots pq ,Ymbc pq )、(Xmbc pq+1 ,Ymbc pq+1 )、(Xmbc p+1q ,Ymbc p+1q )、(Xmbc p+1q+1 ,Ymbc p+1q+1 ) Wherein, subscript s represents the line number of dots near the coordinate of the calibration plate aligned by the original camera, subscript t represents the column number of dots near the coordinate of the calibration plate aligned by the original camera, subscript p represents the line number of dots near the coordinate of the calibration plate aligned by the external camera, subscript q represents the column number of dots near the coordinate of the calibration plate aligned by the external camera, and the calibration plate aligned by the original camera when the calibration mark is clicked is obtained by the following formula (8) through calculationCoordinates (Xcar, ycar), calibration plate coordinates (Xcbr, ycbr) to which the add-on camera is aligned;
the subscript s represents the row number of dots near the coordinate of the calibration plate aligned with the original camera, the subscript t represents the column number of dots near the coordinate of the calibration plate aligned with the original camera, the subscript p represents the row number of dots near the coordinate of the calibration plate aligned with the external camera, and the subscript q represents the column number of dots near the coordinate of the calibration plate aligned with the external camera.
Assuming that the calibration plate coordinates of the original camera alignment calibration plate are among the dots in the 3 rd row, the 4 th row, the 3 rd column and the 4 th column, and the calibration plate coordinates of the external camera alignment calibration plate are among the dots in the 3 rd row, the 4 th row, the 8 th column and the 9 th column, the first mechanical coordinate (Xmnr, ymnr) is substituted into the following formula:
step S72, according to the fourth mechanical coordinates (Xmar, ymar) when the original camera aligns the calibration mark and the calibration plate coordinates (Xc) of four dots near the calibration mark in the calibration plate uv ,Yc uv )、(Xc uv+1 ,Yc uv+1 )、(Xc u+1v ,Yc u+1v )、(Xc u+1v+1 ,Yc u+1v+1 ) And first reference mechanical coordinates (Xmac) corresponding to the dots uv ,Ymac uv )、(Xmac uv+1 ,Ymac uv+1 )、(Xmac u+1v ,Ymac u+1v )、(Xmac u+1v+1 ,Ymac u+1v+1 ) Calculating calibration plate coordinates (Xcnr, ycnr) of the calibration marks in the calibration plate by the following formula (9), wherein a subscript u denotes a row number of a dot near the calibration mark in the calibration plate, and a subscript v denotes a column number of a dot near the calibration mark in the calibration plate;
where subscript u represents the row number of the nearby dots of the calibration mark in the calibration plate and subscript v represents the column number of the nearby dots of the calibration mark in the calibration plate.
Assuming that the calibration mark is located between the dots of the 3 rd row, the 4 th row, the 5 th column and the 6 th column in the calibration plate, the calibration plate coordinates of the four dots are (Xc) 35 ,Yc 35 )、(Xc 36 ,Yc 36 )、(Xc 45 ,Yc 45 )、(Xc 46 ,Yc 46 ) The corresponding first reference machine coordinates are respectively expressed as (Xmac) 35 ,Ymac 35 )、(Xmac 36 ,Ymac 36 )、(Xmac 45 ,Ymac 45 )、(Xmac 46 ,Ymac 46 ) The calculation is performed according to the above equation (9):
step S73, calculating the offset of the original camera, the external camera and the point gluing head through the following formula (10) according to the coordinate (Xcar, ycar) of the calibration board aligned by the original camera when the calibration mark is clicked, the coordinate (Xcbr, ycbr) of the calibration board aligned by the external camera and the coordinate (Xcnnr, ycnr) of the calibration mark in the calibration board;
and substituting the coordinates (Xcar, ycar) of the calibration board aligned with the original camera, the coordinates (Xcbr, ycbr) of the calibration board aligned with the add-on camera and the coordinates (Xcnr, ycnr) of the calibration board marked in the calibration board into a formula (10) to calculate parameters Dn and An, wherein Dn is a distance and An is An angle.
S8, calculating the offset of the external camera, the original camera and the dispensing head on the whole dispensing platform according to the offset of the original camera, the external camera and the dispensing head obtained in the step S7 and the conversion relation calculated in the step S6; comprising (as shown in figure 5):
step S81, the mechanical coordinate when the original camera aligns to the dots of the ith row and the jth column is set as (Xmac) ij ,Ymac ij ) The calibration plate coordinate of the dot is (Xc) ij ,Yc ij ) At this time, the coordinate of the calibration plate aligned by the external camera is between the p-th, p + 1-th, q-th and q + 1-th rows of dots, and the second reference mechanical coordinate corresponding to four dots near the coordinate of the calibration plate aligned by the external camera is (Xmbc) pq ,Ymbc pq )、(Xmbc pq+1 ,Ymbc pq+1 )、(Xmbc p+1q ,Ymbc p+1q )、(Xmbc p+1q+1 ,Ymbc p+1q+1 ) The coordinates of the dot calibration plate are (Xc) pq ,Yc pq )、(Xc pq+1 ,Yc pq+1 )、(Xc p+1q ,Yc p+1q )、(Xc p+1q+1 ,Yc p+1q+1 ) Wherein, subscript i represents the row number of the dots of the calibration plate, and subscript j represents the column number of the dots of the calibration plate; subscript p represents the row number of dots near the calibration plate coordinates of the external camera alignment calibration plate, and subscript q represents the column number of dots near the calibration plate coordinates of the external camera alignment calibration plate; substituting the first reference mechanical coordinate, the second reference mechanical coordinate and the corresponding calibration plate coordinate which are obtained by calculation in the step S5 into the following formula (11) to calculate to obtain the calibration plate coordinate (Xcba) of the external camera aligning to the calibration plate at the moment ij ,Ycba ij ) Calibration plate coordinates (Xcna) for dispensing head alignment calibration plate ij ,Ycnb ij )；
Wherein, subscript i represents the row number of the dots of the calibration plate, and subscript j represents the column number of the dots of the calibration plate; subscript p denotes a row number of dots near the calibration plate coordinates of the exterior camera alignment calibration plate, and subscript q denotes a column number of dots near the calibration plate coordinates of the exterior camera alignment calibration plate.
Step S82, calibrating plate coordinates (Xcna) for dispensing head alignment ij ,Ycnb ij ) Any calibration plate coordinate (Xc, yc) of other calibration plates, and calibration plate coordinate (Xcna) of calibration plate aligned with dispensing head ij ,Ycnb ij ) As the dispensing head reference coordinates, four dispensing head reference coordinates near the arbitrary calibration plate coordinates are set between the ith row, the (i + 1) th row, the jth column and the (j + 1) th column, and the four dispensing head reference coordinates are respectively recorded as (Xcna) ij ,Ycna ij )，(Xcna ij+1 ,Ycna ij+1 )，(Xcna i+1j ,Ycna i+1j )，(Xcna i+1j+1 ,Ycna i+1j+1 ) Corresponding to the machine coordinate (Xmac) ij ,Ymac ij )，(Xmac ij+1 ,Ymac ij+1 )，(Xmac i+1j ,Ymac i+1j )，(Xmac i+1j+1 ,Ymac i+1j+1 ) Then, the mechanical coordinates (Xmnc, ymnc) of the dispensing head when aligning the coordinates of any calibration plate other than the dispensing head reference coordinates in the calibration plate are calculated by the following equation (12):
and S9, repeating the step S2, the step S3 and the step S5 to the step S8 to calculate the offset of the original camera and the external camera of the glue dispenser and all the glue dispensing heads on the whole glue dispensing platform.
After the offset between the dispensing head and the original camera on the whole dispensing platform is obtained, during dispensing, the original camera is used for photographing the workpiece, and the current dispensing head is moved to the position of the workpiece for dispensing according to the offset between the current dispensing head and the original camera.
During dispensing, the original camera shoots the position of the workpiece to obtain the mechanical coordinates (Xmaw, ymaw) of the workpiece when the original camera is aligned with the workpiece, the calibration plate coordinates (Xcwm, ycwm) of the workpiece under the calibration plate coordinate system are calculated through the formula (6) (Xm, ym in the formula (6) is replaced), and the mechanical coordinates (Xmnw, ymnw) (namely Xmnc, ymnc) of the dispensing head during dispensing are calculated from the calibration plate coordinates (Xcwm, ycwm) of the dispensing head under the calibration plate coordinate system according to the formula (12) in the step S8 (XC, YC in the formula (12) is replaced).
Compared with the prior art, the invention reduces the influence of the guide rail precision on the dispensing precision and effectively improves the dispensing precision and the dispensing stability of the dispenser by the technology of calibrating the offset between the camera and the dispensing head by the double cameras under the condition of not increasing the hardware cost. The processing precision is improved, the general method assumes that the position relation between a camera and a dispensing head is a fixed value and does not conform to the working condition of an actual machine, the method of the invention refines the calculation method of the position relation between the camera and the dispensing head, and uses different camera dispensing head position relations for calculation at different dispensing positions, thereby avoiding the precision error and the installation error of a mechanical device from influencing the dispensing precision.
Claims (7)
1. A calibration method for offset between a camera of a dispenser and a dispensing head is characterized by comprising the following steps:
s1, arranging an external camera which moves together with a dispensing head on a dispensing head frame of a dispensing machine;
s2, driving a dispensing head to be calibrated to move to the center of a dispensing platform and move downwards, dispensing colored glue at the center of the dispensing platform to serve as a calibration mark, and recording a first mechanical coordinate (Xmnr, ymnr) of the dispensing head when the dispensing head dispenses the calibration mark;
s3, respectively moving the external camera and the original camera on a 3 x 3 array position point, photographing the calibration mark in the step S2, respectively recording a second mechanical coordinate (Xma, yma) of the original camera, a first image coordinate (Xia, yi) corresponding to the second mechanical coordinate (Xma, yma) of the original camera, a third mechanical coordinate (Xmb, ymb) of the external camera, a second image coordinate (Xib, yib) corresponding to the third mechanical coordinate (Xmb, yib), calculating a transformation relation between the second mechanical coordinate of the original camera and the first image coordinate, and a transformation relation between the third mechanical coordinate of the external camera and the second image coordinate, wherein the step S3 comprises:
s31, the original camera and the external camera move to each array position point respectively, the calibration marks are photographed and recorded, 9 array position points are traversed, a second mechanical coordinate of the original camera and a corresponding first image coordinate, a third mechanical coordinate of the external camera and a corresponding second image coordinate are obtained, and the transformation relation of the first mechanical coordinate and the second mechanical coordinate is expressed by the following formula (1);
substituting the second mechanical coordinate (Xma, yma), the first image coordinate (Xia, yia), the third mechanical coordinate (Xmb, ymb), and the second image coordinate (Xib, yib) into the formula (1) to calculate the values of the parameters m00, m01, m02, m10, m11, m12, m20, m21, m22, m30, m31, m32 to obtain the transformation parameters in the transformation relation;
step S32, substituting the image center coordinates (Xiar, YIar) of the original camera and the image center coordinates (Xibr, YIbr) of the external camera into the following formula (2) to calculate the fourth mechanical coordinates (Xmar, ymar) of the original camera when aligning the calibration mark and the fifth mechanical coordinates (Xmbr, ymbr) of the external camera when aligning the calibration mark,
s4, arranging a calibration plate on the dispensing platform;
s5, respectively photographing all the dots on the calibration plate through the original camera and the external camera, and recording a sixth mechanical coordinate (Xmact) of the original camera during photographing each time ij ,Ymact ij ) And a corresponding thirdImage coordinate (Xiact) ij ,Yiact ij ) And a seventh mechanical coordinate (Xmbct) of the add-on camera ij ,Ymbct ij ) And corresponding fourth image coordinates (Xidct) ij ,Yibct ij ) Wherein, subscript i represents the row number of the dots in the calibration plate, and subscript j represents the column number of the dots in the calibration plate; and calculating a first reference mechanical coordinate (Xmac) when the original camera is aligned with the dot by the following formula (3) ij ,Ymac ij ) Second reference mechanical coordinates (Xmbc) when aligning with external camera to dot ij ,Ymbc ij )；
Step S6, obtaining a first reference mechanical coordinate (Xmac) ij ,Ymac ij ) And a second reference mechanical coordinate (Xmbc) ij ,Ymbc ij ) Then, the first reference mechanical coordinate (Xmac) is used ij ,Ymac ij ) And a second reference mechanical coordinate (Xmbc) ij ,Ymbc ij ) Calculating eighth mechanical coordinates (Xmac, ymac) and ninth mechanical coordinates (Xmbc, ymbc) when the original camera and the add-on camera are aligned with any calibration plate coordinates (Xc, yc) except for the dots in the calibration plate as a reference, wherein subscript i in the first and second reference mechanical coordinates represents the row number of the dots in the calibration plate, and subscript j represents the column number of the dots in the calibration plate; when the original camera and the external camera are positioned at any mechanical coordinate (Xm, ym) except the first reference mechanical coordinate and the second reference mechanical coordinate, the coordinate (Xcam, ycam) of a first calibration plate aligned with the original camera and the coordinate (Xcbm, ycbm) of a second calibration plate aligned with the external camera are calculated to obtain the transformation relation between the any mechanical coordinate of the original camera and the coordinate of the first calibration plate aligned with the calibration plate, and the external camera is positioned at the transformation relation between the any mechanical coordinate and the coordinate of the second calibration plate aligned with the calibration plate;
s7, calculating the offset of the original camera, the external camera and the dispensing head according to the transformation relation between the original camera and the external camera in any mechanical coordinate and the first calibration plate coordinate and the second calibration plate coordinate of the alignment calibration plate;
s8, calculating the offset of the external camera, the original camera and the dispensing head on the whole dispensing platform according to the offset of the original camera, the external camera and the dispensing head obtained in the step S7 and the conversion relation calculated in the step S6;
and S9, repeating the step S2, the step S3 and the step S5 to the step S8 to calculate the offset of the original camera and the external camera of the glue dispenser and all the glue dispensing heads on the whole glue dispensing platform.
2. The offset calibration method between the dispenser camera and the dispenser head according to claim 1, characterized in that: in step S6, the eighth mechanical coordinate (Xmac, ymac) and the ninth mechanical coordinate (Xmbc, ymbc) when the original camera and the add-on camera are aligned with any calibration plate coordinate (Xc, yc) other than the circular dots in the calibration plate are specifically calculated as follows: obtaining the calibration plate coordinates (Xc) of four dots near the arbitrary calibration plate coordinates (Xc, yc) ij ,Yc ij )、(Xc ij+1 ,Yc ij+1 )、(Xc i+1j ,Yc i+1j )、(Xc i+1j+1 ,Yc i+1j+1 ) (ii) a The original camera is aligned to the calibration plate coordinates (Xc) of the first dot ij ,Yc ij ) The first reference mechanical coordinate of time is (Xmac) ij ,Ymac ij ) Alignment of calibration plate coordinates (Xc) of the second dot ij+1 ,Yc ij+1 ) The first reference mechanical coordinate of time is (Xmac) ij+1 ,Ymac ij+1 ) Alignment to the calibration plate coordinates (Xc) of the third dot i+1j ,Yc i+1j ) The first reference mechanical coordinate of time is (Xmac) i+1j ,Ymac i+1j ) Alignment of calibration plate coordinates (Xc) of the fourth dot i+1j+1 ,Yc i+1j+1 ) The first reference machine coordinate of time is (Xmac) i+1j+1 ,Ymac i+1j+1 ) Calculating and obtaining eighth mechanical coordinates (Xmac, ymac) of the original camera when the coordinates (Xc, yc) of any calibration plate except the circular points in the calibration plate are aligned through the following formula (4);
wherein, subscript i represents the row number of the dots in the calibration plate, and subscript j represents the column number of the dots in the calibration plate;
obtaining calibration plate coordinates (Xc) of the external camera aiming at the first round point ij ,Yc ij ) The second reference mechanical coordinate of time is (Xmbc) ij ,Ymbc ij ) Alignment to the calibration plate coordinates (Xc) of the second dot ij+1 ,Yc ij+1 ) The second reference mechanical coordinate of time is (Xmbc) ij+1 ,Ymbc ij+1 ) Alignment of calibration plate coordinates (Xc) of third dot i+1j ,Yc i+1j ) The second reference mechanical coordinate of time is (Xmbc) i+1j ,Ymbc i+1j ) Alignment to the calibration coordinates (Xc) of the fourth dot i+1j+1 ,Yc i+1j+1 ) The second reference mechanical coordinate of time is (Xmbc) i+1j+1 ,Ymbc i+1j+1 ) Calculating a ninth mechanical coordinate (Xmbc, ymbc) of the external camera when aiming at any calibration plate coordinate (Xc, yc) except the dot in the calibration plate through the following formula (5);
where subscript i represents the row number of the dots in the calibration plate and subscript j represents the column number of the dots in the calibration plate.
3. The offset calibration method between the dispenser camera and the dispenser head according to claim 1, characterized in that: when the original camera and the add-on camera are calculated to be located at any mechanical coordinate (Xm, ym) except the first and second reference mechanical coordinates in step S6, the first calibration plate coordinate (Xcam, ycam) aligned by the original camera and the second calibration plate coordinate (Xcbm, ycbm) aligned by the add-on camera are specifically:
when the original camera is positioned at any mechanical coordinate (Xm, ym), a first reference mechanical coordinate corresponding to four dots near the calibration plate coordinate of the aligned calibration plate is obtained, and the original camera is aligned with the calibration plate coordinate (Xc) of the first dot of the ith row and the jth column ij ,Yc ij ) The first reference mechanical coordinate of time is (Xmac) ij ,Ymac ij ) The calibration coordinates (Xc) of the second dot aligned with the ith row and the jth +1 column ij+1 ,Yc ij+1 ) The first reference mechanical coordinate of time is (Xmac) ij+1 ,Ymac ij+1 ) Calibration plate coordinates (Xc) of the third dot aligned with the (i + 1) th row and the (j) th column i+1j ,Yc i+1j ) The first reference machine coordinate of time is (Xmac) i+1j ,Ymac i+1j ) Alignment of calibration plate coordinates (Xc) of the fourth dot of row (i + 1) and column (j + 1) i+1j+1 ,Yc i+1j+1 ) The first reference mechanical coordinate is (Xmac) i+1j+1 ,Ymac i+1j+1 ) When the original camera is located at any mechanical coordinate (Xm, ym) except the first reference mechanical coordinate point, the first calibration plate coordinate (Xcam, ym) of the calibration plate aimed at by the original camera is obtained through calculation according to the following formula (6);
wherein, subscript i represents the row number of the dots in the calibration plate, and subscript j represents the column number of the dots in the calibration plate;
acquiring a second reference mechanical coordinate corresponding to four dots near the calibration plate coordinate of the calibration plate aligned with the external camera when the external camera is positioned at the any mechanical coordinate (Xm, ym), and aligning the external camera to the calibration plate coordinate (Xc) of the first dot of the ith row and the jth column ij ,Yc ij ) The second reference mechanical coordinate of time is (Xmbc) ij ,Ymbc ij ) Alignment of the calibration coordinates (Xc) of the second dot in the ith row and the j +1 th column ij+1 ,Yc ij+1 ) The second reference mechanical coordinate of time is (Xmbc) ij+1 ,Ymbc ij+1 ) Calibration plate coordinates (Xc) of the third dot aligned with the (i + 1) th row and the (j) th column i+1j ,Yc i+1j ) The second reference mechanical coordinate of time is (Xmbc) i+1j ,Ymbc i+1j ) Alignment of calibration plate coordinates (Xc) of the fourth dot of row (i + 1) and column (j + 1) i+1j+1 ,Yc i+1j+1 ) The second reference mechanical coordinate of time is (Xmbc) i+1j+1 ,Ymbc i+1j+1 ) Calculating second calibration plate coordinates (Xcbm, ycbm) of a calibration plate to which the exterior camera is directed when the exterior camera is at any mechanical coordinates (Xm, ym) other than the second reference mechanical coordinates by the following formula (7);
where subscript i represents the row number of the dots in the calibration plate and subscript j represents the column number of the dots in the calibration plate.
4. The offset calibration method between the dispenser camera and the dispenser head according to claim 1, characterized in that: step S7 specifically includes:
step S71, according to the first mechanical coordinate (Xmnr, ymnr) when the point gum head points out the calibration mark in the step S2 and the calibration plate coordinate (Xc) of four dots near the calibration plate coordinate of the original camera alignment calibration plate when the first mechanical coordinate is positioned st ,Yc st )、(Xc st+1 ,Yc st+1 )、(Xc s+1t ,Yc s+1t )、(Xc s+1t+1 ,Yc s+1t+1 ) And first reference mechanical coordinates (Xmac) corresponding to the dots st ,Ymac st )、(Xmac st+1 ,Ymac st+1 )、(Xmac s+1t ,Ymac s+1t )、(Xmac s+1t+1 ,Ymac s+1t+1 ) The external camera is aligned with the calibration board coordinates (Xc) of four dots near the calibration board coordinates of the calibration board pq ,Yc pq )、(Xc pq+1 ,Yc pq+1 )、(Xc p+1q ,Yc p+1q )、(Xc p+1q+1 ,Yc p+1q+1 ) And second reference mechanical coordinates (Xmbc) corresponding to the dots pq ,Ymbc pq )、(Xmbc pq+1 ,Ymbc pq+1 )、(Xmbc p+1q ,Ymbc p+1q )、(Xmbc p+1q+1 ,Ymbc p+1q+1 ) Wherein, subscript s represents the line number of dots near the coordinate of the calibration plate aligned with the original camera, and subscript t represents the line number of dots near the coordinate of the calibration plate aligned with the original cameraColumn numbers of dots near the calibration plate coordinates of the standard calibration plate, subscript p represents the row numbers of dots near the calibration plate coordinates of the external camera to be aligned with the calibration plate, subscript q represents the column numbers of dots near the calibration plate coordinates of the external camera to be aligned with the calibration plate, and calibration plate coordinates (Xcar, ycar) to which the original camera is aligned when the calibration marks are clicked and calibration plate coordinates (Xcbr, ycbr) to which the external camera is aligned are obtained through calculation of the following formula (8);
step S72, according to the fourth mechanical coordinates (Xmar, ymar) when the original camera aligns the calibration mark and the calibration plate coordinates (Xc) of four dots near the calibration mark in the calibration plate uv ,Yc uv )、(Xc uv+1 ,Yc uv+1 )、(Xc u+1v ,Yc u+1v )、(Xc u+1v+1 ,Yc u+1v+1 ) And first reference mechanical coordinates (Xmac) corresponding to the dots uv ,Ymac uv )、(Xmac uv+1 ,Ymac uv+1 )、(Xmac u+1v ,Ymac u+1v )、(Xmac u+1v+1 ,Ymac u+1v+1 ) Calculating calibration plate coordinates (Xcnr, ycnr) of the calibration marks in the calibration plate by the following formula (9), wherein a subscript u denotes a row number of a dot near the calibration mark in the calibration plate, and a subscript v denotes a column number of a dot near the calibration mark in the calibration plate;
step S73, calculating the offset of the original camera, the external camera and the point gluing head through the following formula (10) according to the coordinate (Xcar, ycar) of the calibration board aligned by the original camera when the calibration mark is clicked, the coordinate (Xcbr, ycbr) of the calibration board aligned by the external camera and the coordinate (Xcnnr, ycnr) of the calibration mark in the calibration board;
5. the offset calibration method between the dispenser camera and the dispensing head according to claim 4, characterized in that: step S8 includes:
step S81, when the original camera is aligned with the dots on the ith row and the jth column, the mechanical coordinate is (Xmac) ij ,Ymac ij ) The calibration plate coordinate of the dot is (Xc) ij ,Yc ij ) The second reference mechanical coordinate corresponding to four dots near the calibration plate coordinate of the external camera alignment calibration plate is (Xmbc) pq ,Ymbc pq )、(Xmbc pq+1 ,Ymbc pq+1 )、(Xmbc p+1q ,Ymbc p+1q )、(Xmbc p+1q+1 ,Ymbc p+1q+1 ) The coordinates of the dot calibration plate are (Xc) pq ,Yc pq )、(Xc pq+1 ,Yc pq+1 )、(Xc p+1q ,Yc p+1q )、(Xc p+1q+1 ,Yc p+1q+1 ) Wherein, subscript i represents the row number of the dots of the calibration plate, and subscript j represents the column number of the dots of the calibration plate; subscript p represents the row number of dots near the calibration plate coordinates of the external camera alignment calibration plate, and subscript q represents the column number of dots near the calibration plate coordinates of the external camera alignment calibration plate; substituting the first reference mechanical coordinate, the second reference mechanical coordinate and the corresponding calibration plate coordinate obtained in the step S5 into the following formula (11) for calculation to obtain the calibration plate coordinate (Xcba) of the external camera aligning to the calibration plate ij ,Ycba ij ) Calibration plate coordinates (Xcna) of dispensing head alignment calibration plate ij ,Ycnb ij )；
Step S82, aligning the calibration plate coordinate (Xcna) of the calibration plate with the dispensing head ij ,Ycnb ij ) As dispensing head reference coordinates, four dispensing head reference coordinates near the arbitrary calibration plate coordinates (Xc, yc), each of which is (Xcna) ij ,Ycna ij )，(Xcna ij+1 ,Ycna ij+1 )，(Xcna i+1j ,Ycna i+1j )，(Xcna i+1j+1 ,Ycna i+1j+1 ) The corresponding machine coordinate is (Xmac) ij ,Ymac ij )，(Xmac ij+1 ,Ymac ij+1 )，(Xmac i+1j ,Ymac i+1j )，(Xmac i+1j+1 ,Ymac i+1j+1 ) The mechanical coordinates (Xmnc, ymnc) when the dispensing head is aligned with the coordinates of any calibration plate other than the dispensing head reference coordinates in the calibration plate are calculated by the following formula (12):
6. the offset calibration method between the dispenser camera and the dispenser head according to claim 1, characterized in that: and S4, covering the working range of the dispensing platform by the effective area of the calibration plate, wherein the diameter of the dot in the calibration plate is 5mm, and the interval between the centers of two adjacent dots is 10mm.
7. The offset calibration method between the dispenser camera and the dispenser head according to claim 2, characterized in that: in step S31, the original camera and the external camera move along the ziji path.
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