CN115504311A - Sheet splicing and aligning system and method based on double CCD sensors - Google Patents

Sheet splicing and aligning system and method based on double CCD sensors Download PDF

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Publication number
CN115504311A
CN115504311A CN202211014716.8A CN202211014716A CN115504311A CN 115504311 A CN115504311 A CN 115504311A CN 202211014716 A CN202211014716 A CN 202211014716A CN 115504311 A CN115504311 A CN 115504311A
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China
Prior art keywords
sheet
ccd sensor
target
linear array
target feature
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CN202211014716.8A
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Chinese (zh)
Inventor
游云
罗人轩
刘祖泽
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Chongqing Bian Fu Technology Co ltd
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Chongqing Bian Fu Technology Co ltd
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Priority to CN202211014716.8A priority Critical patent/CN115504311A/en
Publication of CN115504311A publication Critical patent/CN115504311A/en
Priority to PCT/CN2022/144153 priority patent/WO2024040847A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
    • B65H43/08—Photoelectric devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/20—Delivering or advancing articles from machines; Advancing articles to or into piles by contact with rotating friction members, e.g. rollers, brushes, or cylinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/11—Dimensional aspect of article or web
    • B65H2701/113—Size
    • B65H2701/1131—Size of sheets

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Facsimile Scanning Arrangements (AREA)
  • Image Processing (AREA)

Abstract

The invention discloses a sheet splicing and aligning system based on double CCD sensors and an aligning method, wherein the sheet splicing and aligning system comprises a control module, an executing mechanism and two linear array CCD sensor modules, the executing mechanism comprises a moving platform for placing a first sheet and a driving unit for driving the moving platform to move along a Y direction vertical to the X direction, the two linear array CCD sensor modules are respectively in communication connection with the control module, the two linear array CCD sensor modules are arranged side by side along the X direction, and the control module is in communication connection with the driving unit and is used for controlling the driving unit to drive the moving platform to move to a target position according to signals collected by the two linear array CCD sensor modules. The method can effectively identify other target characteristics such as printing lines, patterns and the like except the edge line characteristics of the sheet, has wider application range, and can effectively improve the alignment precision of the target characteristics in the splicing process.

Description

Sheet splicing and aligning system and method based on double CCD sensors
Technical Field
The invention relates to the technical field of sheet splicing, in particular to a sheet splicing and aligning system and method based on double CCD sensors.
Background
For the occasion that the sheets need to be spliced, the positions of the two sheets may be shifted in the process of moving to the splicing position, and therefore, the two sheets to be spliced need to be aligned by the sheet splicing and aligning system before splicing.
At present, in a sheet splicing and aligning system, a photoelectric sensor (for example, a laser sensor formed by a laser emitter and a laser receiver) is mostly used for detecting a position deviation between two sheets to be spliced, however, the photoelectric sensor can only detect the edge of the sheet, and is not convenient for aligning other features (such as printed lines or patterns on the sheets) when splicing is required; and the detection range of the photoelectric sensor is narrow, so that the characteristics are easily lost under the condition that the position deviation of two sheets to be spliced is large, and the edge of the sheet cannot be detected, so that manual intervention is often needed to adjust the position of the sheet.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and particularly provides a sheet splicing and aligning system and a sheet splicing and aligning method based on double CCD sensors, which effectively solve the problems that in the prior art, only the edges of the sheets can be detected by adopting a photoelectric sensor, the applicability is poor, and the requirement on the professional quality of an operator is high.
In order to achieve the above object of the present invention, according to a first aspect of the present invention, there is provided a sheet splicing and aligning system based on dual CCD sensors for aligning corresponding target features of a first sheet and a second sheet to be spliced, which are placed side by side in an X-direction,
the sheet splicing and aligning system comprises a control module, an actuating mechanism and two linear array CCD sensor modules, wherein,
the actuating mechanism comprises a moving platform for placing the first sheet and a driving unit for driving the moving platform to move along a Y direction perpendicular to the X direction;
the two linear array CCD sensor modules are respectively in communication connection with the control module and are arranged side by side along the X direction, one linear array CCD sensor module is used for acquiring a first image of a first target area corresponding to the first sheet and determining position information of a first target feature in the first image based on image identification, the other linear array CCD sensor module is used for acquiring a second image of a second target area corresponding to the second sheet and determining position information of a second target feature in the second image based on image identification, wherein the first target feature and the second target feature are respectively located on the first sheet and the second sheet and need to be aligned when the first sheet and the second sheet are spliced;
the control module is in communication connection with the driving unit, and is configured to calculate a moving direction and a moving distance of the mobile platform according to the position information of the first target feature and the position information of the second target feature, and generate a driving control signal according to the calculated moving direction and moving distance of the mobile platform, where the driving control signal is used to control the driving unit to drive the mobile platform to move to a target position, so that the first target feature and the second target feature are aligned.
Preferably, the photosensitive elements of the two linear array CCD sensor modules are arranged along the Y direction, and a connecting line between the photosensitive elements at the central positions of the two linear array CCD sensor modules is parallel to the X direction.
Preferably, the linear array CCD sensor module includes an LCD touch screen for displaying the acquired images and for receiving user interaction to mark the target feature on the acquired images.
Preferably, the first and second liquid crystal display panels are,
the determining location information of a first target feature in the first image based on image recognition comprises:
calculating various first preselected characteristics of a preset chroma threshold value with a chroma value jump larger than the preset chroma threshold value in the first image based on a difference algorithm and fast Fourier transform to obtain a first preselected characteristic set;
comparing the chromatic value of each preselected feature in the first preselected feature set with the chromatic value of a pre-marked target feature, and determining the first target feature according to the comparison result;
obtaining position information of the first target feature based on the specific position of the pixel point corresponding to the first target feature in the first image and the mapping relation between the specific position of each pixel point in the first image and the position coordinates of each pixel point in the imaging area of the linear array CCD sensor module;
the determining location information of a second target feature in the second image based on image recognition comprises:
calculating various second preselected characteristics of which the jump of the chromatic value is larger than a preset chromatic threshold value in the second image based on a difference algorithm and fast Fourier transform to obtain a second preselected characteristic set;
comparing the chromatic value of each preselected feature in the second preselected feature set with the chromatic value of a pre-marked target feature, and determining the second target feature according to the comparison result;
and obtaining the position information of the second target feature based on the specific position of the pixel point corresponding to the second target feature in the second image and the mapping relation between the specific position of each pixel point in the second image and the position coordinates of each pixel point in the imaging area of the linear array CCD sensor module.
Preferably, the driving unit includes a driving motor, a driving gear, a driven gear and a screw assembly, the signal input end of the driving motor is connected to the control module, the output shaft of the driving motor is fixedly connected to the driving gear, the driving gear is engaged with the driven gear, the driven gear is fixedly connected to the driving end of the screw rod of the screw assembly, and the nut of the screw assembly is connected to the moving platform.
Preferably, the calculating the moving direction and the moving distance of the mobile platform according to the position information of the first target feature and the position information of the second target feature comprises:
obtaining the pixel point position corresponding to the first target characteristic according to the position information of the first target characteristic, the detection range of the linear array CCD sensor module and the resolution of the linear array CCD sensor module;
obtaining pixel point positions corresponding to the second target characteristics according to the position information of the second target characteristics, the detection range of the linear array CCD sensor module and the resolution of the linear array CCD sensor module;
and obtaining the moving direction and the moving distance of the mobile platform according to the pixel point position corresponding to the first target feature and the pixel point position corresponding to the second target feature.
Preferably, the generating a driving control signal according to the calculated moving direction and moving distance of the moving platform comprises:
calculating the rotation direction of the driving motor and the number of turns required to rotate according to the calculated moving direction and moving distance of the moving platform and the transmission ratio between the driving gear and the transmission gear;
calculating the number of Hall pulses required for driving the driving motor based on the calculated number of turns of the driving motor required to rotate and the number of Hall pulses required for driving the driving motor to rotate for one turn;
and generating the driving control signal based on the calculated Hall pulse number required for driving the driving motor and the rotating direction of the driving motor.
Preferably, the linear array CCD sensor module further includes a monochrome CCD chip, a master control MCU and an RGB backlight module, and the monochrome CCD chip and the RGB backlight module are connected to the master control MCU respectively.
According to a second aspect of the present invention, the present invention further provides a double CCD sensor based sheet splicing and aligning method, which applies the double CCD sensor based sheet splicing and aligning system of any one of the above first aspects, the method includes the following steps:
s1, adjusting the installation positions of two linear array CCD sensor modules to enable the photosensitive elements of the two linear array CCD sensor modules to be arranged along the Y direction, wherein a connecting line between the photosensitive elements at the central positions of the two linear array CCD sensor modules is parallel to the X direction;
s2, initializing the sheet splicing and aligning system;
s3, placing the first sheet and the second sheet at positions to be spliced, aligning corresponding target features of the first sheet and the second sheet, and enabling the target features on the first sheet and the second sheet to respectively face the central points of the two linear array CCD sensor modules;
s4, respectively acquiring images of the first sheet and the second sheet through the two linear array CCD sensor modules, and respectively marking target characteristics on the images acquired by the two linear array CCD sensor modules;
and S5, starting the sheet splicing and aligning system to align the first sheet to be spliced and the second sheet to be spliced through the sheet splicing and aligning system.
Preferably, said aligning the first and second sheets to be spliced by said sheet splicing alignment system comprises:
acquiring a first image of a first target area corresponding to the first sheet by one of the linear array CCD sensor modules, determining position information of a first target feature in the first image based on image recognition, acquiring a second image of a second target area corresponding to the second sheet by the other linear array CCD sensor module, and determining position information of a second target feature in the second image based on image recognition;
calculating the moving direction and the moving distance of the moving platform according to the position information of the first target characteristic and the position information of the second target characteristic through the control module, and generating a driving control signal according to the calculated moving direction and moving distance of the moving platform;
the driving unit drives the moving platform to move to a target position based on the driving control signal so as to align the first target feature and the second target feature.
According to the scheme, the invention provides a sheet splicing and aligning system and method based on double CCD sensors, which are used for respectively detecting the target characteristics of two sheets to be spliced through two CCD sensors arranged side by side, can effectively identify other target characteristics such as printing lines and patterns except the edge line characteristics of the sheets, can be suitable for the aligned splicing of two sheets with more types of target characteristics and the aligned splicing of two sheets with larger position deviation, have wider application range, effectively improve the alignment precision of the target characteristics in the splicing process, and effectively solve the problems that in the prior art, only the edges of the sheets can be detected by adopting a photoelectric sensor, and the edges of the sheets can not be easily detected under the condition that the position deviation of the two sheets to be spliced is larger due to the narrow detection range of the photoelectric sensor, and have poorer applicability.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a sheet splicing and aligning system based on a double CCD sensor in a preferred embodiment of the invention;
FIG. 2 is a schematic circuit diagram of a linear CCD sensor module in accordance with a preferred embodiment of the present invention;
FIG. 3 is a circuit schematic of a control module in a preferred embodiment of the present invention;
fig. 4 is a schematic flow chart of a sheet splicing and aligning method based on a dual CCD sensor in a preferred embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the present invention provides a sheet splicing and aligning system based on dual CCD sensors, for aligning corresponding target features of a first sheet 100 and a second sheet 200 to be spliced, which are placed side by side in an X direction (a direction indicated by an arrow on the first sheet 100 in fig. 1), the system comprising a control module 1, an actuator 2 and two linear CCD sensor modules 3.
The actuator 2 includes a moving platform 21 for placing the first sheet 100 and a driving unit 22 for driving the moving platform 21 to move in a Y direction (a direction indicated by a double-headed arrow on the moving platform 21 in fig. 1) perpendicular to the X direction.
The two linear array CCD sensor modules 3 are respectively in communication connection with the control module 1, and the two linear array CCD sensor modules 3 are arranged side by side along the X direction, wherein one linear array CCD sensor module 3 is used for acquiring a first image of a first target area corresponding to the first sheet 100 and determining position information of a first target feature in the first image based on image identification, and the other linear array CCD sensor module 3 is used for acquiring a second image of a second target area corresponding to the second sheet 200 and determining position information of a second target feature in the second image based on image identification, wherein the first target feature and the second target feature are respectively located on the first sheet 100 and the second sheet 200 and need to be aligned when the first sheet 100 and the second sheet 200 are spliced. In particular, the first and second target features may be the edges of the sheets, the printing on the sheets, the pattern on the sheets, etc. that are required for the splicing of two sheets.
The control module 1 is in communication connection with the driving unit 22, and the control module 1 is configured to calculate a moving direction and a moving distance of the mobile platform 21 according to the position information of the first target feature and the position information of the second target feature, and generate a driving control signal according to the calculated moving direction and moving distance of the mobile platform 21, where the driving control signal is used to control the driving unit 22 to drive the mobile platform 21 to move to a target position, so that the first target feature and the second target feature are aligned.
When the linear array CCD sensor imaging system is used, a first sheet 100 is placed at a preset position on a moving platform 21 (the first sheet 100 can be conveyed to the preset position of the moving platform 21 through a conveying mechanism capable of conveying sheets such as a conveying roller, the sheet conveying belongs to the prior art, and is not described herein any more), at the moment, a linear array CCD sensor module 3 positioned above the first sheet 100 scans and photographs a first target area of the first sheet 100 to obtain a first image, and meanwhile, a first target feature is identified in the first image based on an image identification technology, position information of the first target feature is calculated, and the position information is sent to a control module 1; then, the second sheet 200 is conveyed by another conveying mechanism (not shown in the figure) to a direction close to the first sheet 100 (as indicated by an arrow on the first sheet 100 in fig. 1, namely, the positive direction of the X), when the second sheet 200 is conveyed to a predetermined position, another linear CCD sensor module 3 scans a second target area of the second sheet 200 and takes a picture to obtain a second image, and meanwhile, a second target feature is recognized in the second image based on an image recognition technology, and position information of the second target feature is calculated and sent to the control module 1; next, the control module 1 calculates the moving direction and the moving distance of the moving platform 21 according to the position information of the first target feature and the position information of the second target feature detected by the two linear array CCD sensor modules 3, generates a driving control signal according to the calculated moving direction and moving distance of the moving platform 21, and sends the driving control signal to the driving unit 22, and the driving unit 22 drives the moving platform 21 to move to a target position along a certain direction (i.e., a positive direction or a negative direction of Y) in the directions indicated by the double-headed arrow on the moving platform 21 in fig. 1 according to the driving control signal, so that the first target feature is aligned with the second target feature. After the first sheet 100 is aligned with the first sheet 100, the subsequent sheet splicing operation can be performed by the sheet splicing apparatus.
According to the sheet splicing and aligning system of the embodiment, the two linear array CCD sensor modules 3 are used for identifying the target characteristics and determining the position information of the first sheet 100 and the second sheet 200 to be spliced, so that other target characteristics such as printing lines and patterns except for the edge line characteristics of the sheets can be effectively identified, the system can be suitable for the aligned splicing of two sheets with more types of target characteristics and the aligned splicing of two sheets with larger position deviation, and the application range is wider; the detection range of the CCD sensor is wider than that of photoelectric sensors such as a laser sensor, the detection range of the linear array CCD sensor can be adjusted to 50mm, and the deviation of the second sheet 200 in the conveying process is basically not large under the general condition, so that compared with a sheet alignment system which adopts the photoelectric sensors to detect the target characteristics of the sheets, the system can meet the alignment use scene of materials with larger deviation to a greater extent, and can effectively reduce manual intervention; in addition, because the number of the single-row pixels of the linear array CCD is much higher than that of the area array CCD and other photoelectric sensors, the resolution of the obtained image of the target area is also higher, and further, the specific position information of the target feature in the image obtained by the image recognition technology is more accurate, so that the driving control signal generated by the control module 1 according to the position information of the target feature can more accurately control the driving unit 22 to enable the moving platform 21 to more accurately move to the target position, and therefore, the splicing error when the two sheets are spliced can also be effectively reduced.
Specifically, in the present embodiment, the light-sensitive elements of the two line CCD sensor modules 3 are arranged in the Y direction, and the connecting line between the light-sensitive elements at the central positions of the two line CCD sensor modules 3 is parallel to the X direction. Therefore, the coordinate positions of the pixels of the two linear array CCD sensor modules 3 in the X direction can be aligned with each other, errors between detected position signals and actual position information of target characteristics of the sheets are effectively avoided, and detection precision is better guaranteed to reduce splicing alignment errors.
On the basis of the above embodiment, in one embodiment, the line CCD sensor module 3 includes an LCD touch screen for displaying the acquired image and for receiving user interaction to mark the target feature on the acquired image. The target characteristics of the sheets can be visually and clearly displayed through the LCD touch screen of the linear array CCD sensor module 3, and a field operator can mark the target characteristics of the sheets through interactive operations such as zooming on the pictures shot by the linear array CCD sensor module 3 through the LCD touch screen of the linear array CCD sensor module 3.
Based on the foregoing embodiments, further, in an embodiment, the determining the position information of the first target feature in the first image based on image recognition includes:
calculating various first preselected characteristics of a preset chroma threshold value with a chroma value jump larger than the preset chroma threshold value in the first image based on a difference algorithm and fast Fourier transform to obtain a first preselected characteristic set, namely selecting various characteristics with larger chroma value jump in the first image; in particular, the first preselected feature may be an edge line, a printed line, a pattern, or the like in the first image.
Comparing the chromatic value of each preselected feature in the first preselected feature set with the chromatic value of the pre-marked target feature, and determining the first target feature according to the comparison result; since there may be a plurality of first preselected features with large jump in chromaticity value in the first image, and only the target features need to be aligned when the sheets are spliced, the corresponding target features (i.e., the first target features) in the first image need to be screened out from each first preselected feature by comparing the chromaticity value with those of the pre-marked target features.
Obtaining position information of the first target feature based on the specific position of the pixel point corresponding to the first target feature in the first image and the mapping relation between the specific position of each pixel point in the first image and the position coordinates of each pixel point in the imaging area of the linear array CCD sensor module 3; the position information is specifically position coordinates of the first target feature.
Determining location information of a second target feature in a second image based on image recognition comprises:
calculating various second preselected characteristics with jump of the chromatic value larger than a preset chromatic threshold value in the second image based on a difference algorithm and fast Fourier transform to obtain a second preselected characteristic set, namely selecting various characteristics with jump of the chromatic value larger in the second image; in particular, the second preselected feature may be an edge line, a printed line, a pattern, or the like in the second image.
Comparing the chromatic value of each preselected feature in the second preselected feature set with the chromatic value of the pre-marked target feature, and determining a second target feature according to the comparison result; since there may be a plurality of second preselected features with larger jump in chromatic value in the second image, and only the target features need to be aligned when the sheets are spliced, the corresponding target features (i.e. the second target features) in the second image need to be screened out from each second preselected feature by comparing with the chromatic value of the pre-marked target feature.
And obtaining the position information of the second target feature based on the specific position of the pixel point corresponding to the second target feature in the second image and the mapping relation between the specific position of each pixel point in the second image and the position coordinates of each pixel point in the imaging area of the linear array CCD sensor module 3. The position information is specifically position coordinates of the second target feature.
Specifically, the preset chroma threshold may be specifically set according to chroma values of different target features on different sheets.
On the basis of the previous embodiment, further, in an embodiment, the driving unit 22 specifically includes a driving motor, a driving gear, a driven gear and a screw pair, a signal input end of the driving motor is connected with the control module 1, an output shaft of the driving motor is fixedly connected with the driving gear, the driving gear is engaged with the driven gear, the driven gear is fixedly connected with a driving end of a screw rod of the screw pair, and a nut of the screw pair is fixedly connected with the movable platform 21. The driving gear is driven by the driving motor, the driving gear drives the driven gear to rotate, the driven gear rotates to drive the lead screw of the lead screw pair to rotate, and therefore the moving platform 21 fixedly connected with the nut of the lead screw pair is made to do linear motion along the Y direction, the moving platform 21 drives the first sheet 100 to move along the Y direction, the first target feature on the first sheet 100 is aligned with the second target feature on the second sheet 200, and splicing accuracy is guaranteed.
Based on the above embodiment, further, in an embodiment, calculating the moving direction and the moving distance of the mobile platform 21 according to the position information of the first target feature and the position information of the second target feature includes:
obtaining the pixel point position corresponding to the first target characteristic according to the position information of the first target characteristic, the detection range of the linear array CCD sensor module 3 and the resolution of the linear array CCD sensor module 3;
obtaining pixel point positions corresponding to the second target characteristics according to the position information of the second target characteristics, the detection range of the linear array CCD sensor module 3 and the resolution of the linear array CCD sensor module 3;
and obtaining the moving direction and the moving distance of the moving platform 21 according to the pixel point position corresponding to the first target feature and the pixel point position corresponding to the second target feature.
On the basis of the above embodiment, further, in an embodiment, the generating the driving control signal according to the calculated moving direction and moving distance of the moving platform 21 includes:
calculating the rotating direction of the driving motor and the number of turns required to rotate according to the calculated moving direction and moving distance of the moving platform 21 and the transmission ratio between the driving gear and the transmission gear;
calculating the number of Hall pulses required for driving the driving motor based on the calculated number of turns required for rotating the driving motor and the number of Hall pulses required for rotating the driving motor by one turn;
and generating a driving control signal based on the calculated number of Hall pulses required for driving the driving motor and the rotating direction of the driving motor.
In order to provide a more intuitive understanding of the function of the system, the principle of alignment of two sheets of the system is described in detail below with specific examples:
in this example, the detection range of the two linear array CCD sensor modules 3 is ± 20mm, the output signal of the sensor is analog quantity 0-5V, the resolution is 1000, which is equivalent to that 40mm is divided into 1000 parts, and each part represents 0.04mm. If the linear CCD sensor module 3 on the second sheet 200 detects a target feature (edge line of material in this embodiment) on the second sheet 200 at the 400 th pixel point, the linear CCD sensor module 3 on the first sheet 100 detects a target feature (edge line) on the first sheet 100 at the 550 th pixel point by a difference of (550-400) × 0.04mm;
the control module 1 calculates the difference as +6mm according to the above formula, so that the driving motor needs to rotate forward to drive the moving platform 21 to move 6mm in the positive direction of the Y axis. The actuating mechanism 2 takes a driving motor as power, a screw rod of a screw rod pair is driven to rotate through a driving gear and a driven gear, and a nut of the screw rod pair reciprocates on the screw rod to drive the moving platform 21 to achieve the effect of advancing and retreating along the Y direction. In this example, the transmission ratio between the driving gear and the driven gear is 19, the screw pitch of the lead screw is 4mm, and the control module 1 can calculate that the number of rotation turns of the driving motor = (distance 6 mm/screw pitch 4 mm)/the transmission ratio (19) ≈ 4.58 turns, that is, the driving motor needs to rotate 4.58 turns; since the number of hall pulses per one revolution of the drive motor is 30, a total of 4.58 × 30 ≈ 137 pulses are required to be rotated. The control module 1 precisely controls the driving motor to operate 137 pulses, and the moving platform 21 can drive the first sheet 100 to reach the target position to achieve the alignment of the target feature between the first sheet 100 and the second sheet 200.
And (3) error analysis: the driving motor rotates for 4.567 times by 137 pulses, the screw rod rotates for 4.567 times/transmission ratio (19) ≈ 1.495 times, the nut on the screw rod drives the moving platform 21 to move for 1.495 × screw pitch 4=5.98mm, and an error of only 0.02mm exists with an actual difference of 6mm, so that the error of the target characteristic in the alignment in the system can be seen to be very small.
In one embodiment, the linear array CCD sensor module 3 further includes a monochrome CCD chip, a main control MCU and an RGB backlight module, and the monochrome CCD chip and the RGB backlight module are respectively connected to the main control MCU. When the linear array CCD sensor module 3 collects images corresponding to sheets, the RGB backlight module is started to irradiate the sheets, the single-color CCD chip is controlled by the master control MCU to scan a target area of the sheets to realize image collection of the target area, and the master control MCU realizes color reduction of color sheets on the images collected by the three-color CCD chip through backlight conversion of different colors.
Specifically, in an example, a schematic circuit diagram of the linear array CCD sensor module 3 is shown in fig. 2, and it can be seen from the diagram that the linear array CCD sensor module 3 further includes a power supply portion, a CCD chip driving circuit and a communication portion, wherein the power supply portion is used for supplying power to the CCD sensor module, the CCD chip driving circuit is used for driving the monochrome CCD chip to work, and the communication portion is used for performing interactive communication with the control module 1.
Specifically, in an example, a schematic circuit diagram of the control module 1 is shown in fig. 3, and as can be seen from the diagram, the control module 1 mainly includes a power supply portion, a master control MCU, a communication portion, a storage unit, a motor driving circuit, an interface circuit, and an external control circuit, where the power supply portion is configured to provide a working power supply for each unit circuit of the master control module, the master control MCU is configured to generate a driving control signal according to received position information of a target feature, the communication portion is configured to communicate between the control module 1 and the linear array CCD sensor module 3, the storage unit is configured to store preset parameters, data received by the control module 1, and data generated by the control module 1 after calculation, the motor driving circuit is configured to control a working state of the driving motor under the control of the master control MCU of the control module 1, the interface circuit is configured to implement connection between the control module 1 and other modules or devices, and the external control circuit is configured to connect to an external monitoring terminal, thereby implementing mutual communication between the system and the external monitoring terminal.
As shown in fig. 4, the present invention further provides a sheet splicing and aligning method based on a dual CCD sensor, which is applied to the sheet splicing and aligning system based on a dual CCD sensor of any of the above embodiments, and the method includes the following steps:
s1, adjusting the installation positions of two linear array CCD sensor modules to enable the photosensitive elements of the two linear array CCD sensor modules to be arranged along the Y direction, wherein a connecting line between the photosensitive elements at the central positions of the two linear array CCD sensor modules is parallel to the X direction;
s2, initializing a sheet splicing and aligning system;
s3, placing the first sheet and the second sheet at positions to be spliced, aligning corresponding target features of the first sheet and the second sheet, and enabling the target features on the first sheet and the second sheet to be opposite to the central points of the two linear array CCD sensor modules respectively;
s4, respectively acquiring images of the first sheet and the second sheet through the two linear array CCD sensor modules, and respectively marking target characteristics on the images acquired by the two linear array CCD sensor modules;
and S5, starting the sheet splicing and aligning system to align the first sheet to be spliced and the second sheet to be spliced through the sheet splicing and aligning system.
In one embodiment, aligning a first sheet and a second sheet to be spliced by a sheet splice alignment system comprises:
acquiring a first image of a first target area corresponding to a first sheet through one of the linear array CCD sensor modules, determining position information of a first target feature in the first image based on image recognition, acquiring a second image of a second target area corresponding to a second sheet through the other linear array CCD sensor module, and determining position information of a second target feature in the second image based on image recognition;
calculating the moving direction and the moving distance of the mobile platform according to the position information of the first target characteristic and the position information of the second target characteristic through a control module, and generating a driving control signal according to the calculated moving direction and moving distance of the mobile platform;
the driving unit drives the moving platform to move to the target position based on the driving control signal so as to align the first target feature and the second target feature.
In this embodiment, the module/unit integrated by the sheet splicing and aligning system based on the dual CCD sensor may be stored in a computer readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer-readable medium may contain suitable additions or subtractions depending on the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer-readable media may not include electrical carrier signals or telecommunication signals in accordance with legislation and patent practice.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but 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 (10)

1. A sheet splicing and aligning system based on double CCD sensors is used for aligning corresponding target features of a first sheet and a second sheet to be spliced which are arranged side by side along an X direction,
the sheet splicing and aligning system comprises a control module, an actuating mechanism and two linear array CCD sensor modules, wherein,
the actuating mechanism comprises a moving platform for placing the first sheet and a driving unit for driving the moving platform to move along a Y direction perpendicular to the X direction;
the two linear array CCD sensor modules are respectively in communication connection with the control module and are arranged side by side along the X direction, one linear array CCD sensor module is used for acquiring a first image of a first target area corresponding to the first sheet and determining position information of a first target feature in the first image based on image identification, the other linear array CCD sensor module is used for acquiring a second image of a second target area corresponding to the second sheet and determining position information of a second target feature in the second image based on image identification, wherein the first target feature and the second target feature are respectively located on the first sheet and the second sheet and need to be aligned when the first sheet and the second sheet are spliced;
the control module is in communication connection with the driving unit, and is configured to calculate a moving direction and a moving distance of the mobile platform according to the position information of the first target feature and the position information of the second target feature, and generate a driving control signal according to the calculated moving direction and moving distance of the mobile platform, where the driving control signal is used to control the driving unit to drive the mobile platform to move to a target position, so that the first target feature and the second target feature are aligned.
2. The dual CCD sensor based sheet splicing and aligning system of claim 1, wherein the photosensitive elements of both said linear CCD sensor modules are arranged along the Y direction, and a connecting line between the photosensitive elements at the central positions of both said linear CCD sensor modules is parallel to the X direction.
3. The dual CCD sensor based sheet splicing alignment system of claim 2, wherein the linear array CCD sensor module comprises an LCD touch screen for displaying the captured images and for receiving user interaction to mark the target feature on the captured images.
4. The dual CCD sensor based sheet splicing alignment system of claim 3,
the determining location information of a first target feature in the first image based on image recognition comprises:
calculating various first preselected characteristics of a preset chroma threshold value with a chroma value jump larger than the preset chroma threshold value in the first image based on a difference algorithm and fast Fourier transform to obtain a first preselected characteristic set;
comparing the chromatic value of each preselected feature in the first preselected feature set with the chromatic value of a pre-marked target feature, and determining the first target feature according to the comparison result;
obtaining position information of the first target feature based on the specific position of a pixel point corresponding to the first target feature in the first image and the mapping relation between the specific position of each pixel point in the first image and the position coordinates of each pixel point in an imaging area of the linear array CCD sensor module;
the determining location information of a second target feature in the second image based on image recognition comprises:
calculating various second preselected characteristics of which the jump of the chromatic value in the second image is greater than a preset chromatic threshold value based on a difference algorithm and fast Fourier transform to obtain a second preselected characteristic set;
comparing the chromatic value of each preselected feature in the second preselected feature set with the chromatic value of the pre-marked target feature, and determining the second target feature according to the comparison result;
and obtaining the position information of the second target feature based on the specific position of the pixel point corresponding to the second target feature in the second image and the mapping relation between the specific position of each pixel point in the second image and the position coordinates of each pixel point in the imaging area of the linear array CCD sensor module.
5. The double-CCD-sensor-based sheet splicing and aligning system according to claim 4, wherein the driving unit comprises a driving motor, a driving gear, a driven gear and a screw pair, a signal input end of the driving motor is connected with the control module, an output shaft of the driving motor is fixedly connected with the driving gear, the driving gear is meshed with the driven gear, the driven gear is fixedly connected with a driving end of a screw of the screw pair, and a nut of the screw pair is connected with the movable platform.
6. The dual CCD sensor based sheet splicing alignment system of claim 5,
the calculating the moving direction and the moving distance of the mobile platform according to the position information of the first target feature and the position information of the second target feature comprises:
obtaining the pixel point position corresponding to the first target characteristic according to the position information of the first target characteristic, the detection range of the linear array CCD sensor module and the resolution of the linear array CCD sensor module;
obtaining pixel point positions corresponding to the second target characteristics according to the position information of the second target characteristics, the detection range of the linear array CCD sensor module and the resolution of the linear array CCD sensor module;
and obtaining the moving direction and the moving distance of the mobile platform according to the pixel point position corresponding to the first target feature and the pixel point position corresponding to the second target feature.
7. The dual CCD sensor based sheet splicing alignment system of claim 5,
the generating of the driving control signal according to the calculated moving direction and moving distance of the moving platform comprises:
calculating the rotation direction of the driving motor and the number of turns required to rotate according to the calculated moving direction and moving distance of the moving platform and the transmission ratio between the driving gear and the transmission gear;
calculating the number of Hall pulses required for driving the driving motor based on the calculated number of turns of the driving motor required to rotate and the number of Hall pulses required for driving the driving motor to rotate for one turn;
and generating the driving control signal based on the calculated Hall pulse number required for driving the driving motor and the rotating direction of the driving motor.
8. The dual CCD sensor based sheet splicing alignment system of any one of claims 3 to 7, wherein the linear array CCD sensor module further comprises a monochrome CCD chip, a master control MCU and an RGB backlight module, the monochrome CCD chip and the RGB backlight module are respectively connected with the master control MCU.
9. A double-CCD-sensor-based sheet splicing and aligning method is applied to the double-CCD-sensor-based sheet splicing and aligning system of any one of claims 1 to 8, and the method comprises the following steps:
s1, adjusting the installation positions of two linear array CCD sensor modules to enable the photosensitive elements of the two linear array CCD sensor modules to be arranged along the Y direction, wherein a connecting line between the photosensitive elements at the central positions of the two linear array CCD sensor modules is parallel to the X direction;
s2, initializing the sheet splicing and aligning system;
s3, placing the first sheet and the second sheet at positions to be spliced, aligning corresponding target features of the first sheet and the second sheet, and enabling the target features on the first sheet and the second sheet to respectively face the central points of the two linear array CCD sensor modules;
s4, respectively acquiring images of the first sheet and the second sheet through the two linear array CCD sensor modules, and respectively marking target characteristics on the images acquired by the two linear array CCD sensor modules;
and S5, starting the sheet splicing and aligning system to align the first sheet and the second sheet to be spliced through the sheet splicing and aligning system.
10. The dual CCD sensor based sheet splicing alignment method of claim 9, wherein said aligning a first sheet and a second sheet to be spliced by said sheet splicing alignment system comprises:
acquiring a first image of a first target region corresponding to the first sheet by one of the linear array CCD sensor modules, determining position information of a first target feature in the first image based on image recognition, acquiring a second image of a second target region corresponding to the second sheet by the other linear array CCD sensor module, and determining position information of a second target feature in the second image based on image recognition;
calculating the moving direction and the moving distance of the moving platform according to the position information of the first target characteristic and the position information of the second target characteristic through the control module, and generating a driving control signal according to the calculated moving direction and the calculated moving distance of the moving platform;
the driving unit drives the moving platform to move to a target position based on the driving control signal so as to align the first target feature and the second target feature.
CN202211014716.8A 2022-08-23 2022-08-23 Sheet splicing and aligning system and method based on double CCD sensors Pending CN115504311A (en)

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WO2024040847A1 (en) * 2022-08-23 2024-02-29 重庆编福科技有限公司 Sheet splicing and alignment system and method based on double ccd sensors

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CN101562693B (en) * 2009-06-01 2011-05-25 中国兵器工业第二〇五研究所 Optical imaging splicing device of double CCD image splicing detector
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JP2013252971A (en) * 2012-05-09 2013-12-19 Canon Inc Sheet processing apparatus
CN109916328B (en) * 2017-12-13 2020-10-02 山东大学 V-shaped groove calibration plate and method for double-CCD laser measurement
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