CN115684157B - Heat pipe marking positioning method and device based on machine vision center coordinate method - Google Patents
Heat pipe marking positioning method and device based on machine vision center coordinate method Download PDFInfo
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- CN115684157B CN115684157B CN202211332001.7A CN202211332001A CN115684157B CN 115684157 B CN115684157 B CN 115684157B CN 202211332001 A CN202211332001 A CN 202211332001A CN 115684157 B CN115684157 B CN 115684157B
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Abstract
The invention provides a heat pipe marking positioning method and device based on a machine vision center coordinate method, comprising the following steps: computer vision system, heat pipe marking vision recognition mechanism and heat pipe move material mechanism. Processing and positioning judgment are carried out on the heat pipe marking image by using a computer vision system; the method comprises the following steps: the camera acquires an image, pre-processes the image, extracts the outline of the heat pipe, generates an inscribed rectangle, calculates the center coordinate of the heat pipe, extracts the marking outline, generates the inscribed rectangle, calculates the marking center coordinate, compares the distance between the center coordinate of the heat pipe and the marking center coordinate, and judges whether the marking position is at the center position of the heat pipe. The heat pipe marking visual identification mechanism includes: camera, lens, light source, motor, support module etc.. The heat pipe material transferring mechanism comprises: air claw, optical axis, cylinder, material moving plate, etc. The invention realizes the accurate identification and positioning of the heat pipe marking, overcomes the error of manual detection and improves the production efficiency of products.
Description
Technical Field
The invention relates to the technical field of positioning and identifying of heat pipe marking, in particular to a heat pipe marking positioning method and device based on a machine vision center coordinate method.
Background
With the development of industrial intelligence, machine vision has gradually become an important part of industrial automation industry by virtue of the characteristics of real-time property, non-contact property, high precision, high efficiency, long service life and the like. Meanwhile, with the development of 5G technology and internet, the heat pipe is widely used in heat dissipation of various electronic products due to its good heat dissipation property. In the production and manufacturing process of the heat pipes, the marking of the heat pipes is an important link, and the traditional heat pipe marking is manually carried out on each heat pipe, so that the identification rate is low, the requirements on people are high, people can feel tired, and the error rate is high. .
Disclosure of Invention
Aiming at the problems of low accuracy and low manual efficiency of the existing heat pipe marking, the invention aims at: the heat pipe marking positioning method and device based on the machine vision center coordinate method are provided, automatic identification and positioning of the heat pipe marking area are realized, the heat pipe production efficiency and yield are greatly improved, and the heat pipe marking positioning method and device have a good pushing effect on the heat pipe production industry.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the heat pipe marking identification positioning method based on the machine vision center coordinate method comprises the steps of processing and positioning and judging heat pipe marking images by a computer vision system, wherein the heat pipe marking identification positioning method based on the machine vision center coordinate method comprises three steps of image preprocessing, feature extraction and positioning and identifying, and the method comprises the following steps of:
step one: image preprocessing, including camera calibration, camera starting, image acquisition, image segmentation, threshold segmentation, ROI acquisition, morphological processing and the like; the camera in the heat pipe marking visual recognition mechanism transmits the acquired picture to the computer visual system for image processing operation, and the image acquired by the camera is preprocessed through the operation, so that the image with good quality is obtained, and a foundation is laid for the following feature extraction step.
Step two: the feature extraction comprises the steps of performing heat pipe identification, marking identification, inscribed rectangle fitting, calculating the center coordinates of inscribed rectangles of the heat pipes, calculating the center coordinates of inscribed rectangles of the marking and the like on the preprocessed image; and carrying out feature recognition on the preprocessed image, respectively carrying out binarization processing of different gray values on the heat pipe and the marking area, obtaining the ROI area of the heat pipe and the marking area, and respectively fitting the heat pipe and the marking area by using an inscribed rectangle operator.
Step three: positioning and identifying, including calculating the center coordinates of the inscribed rectangle, judging the marking position and the like; calculating center coordinates of inscribed rectangles of the heat pipe and the marking area obtained in the second step, calculating pixel coordinate distances of the heat pipe and the marking area in the radial direction of the heat pipe, and obtaining the length distances of the heat pipe and the marking area in the real world in the radial direction of the heat pipe by using internal and external parameters calibrated by a camera in the first step. Judging whether the marking area is positioned according to the obtained length distance of the real world, if not, sending an instruction by the computer vision system to control the motor to rotate the heat pipe, continuously photographing, and then operating until the marking area of the heat pipe is positioned, and stopping rotating the motor.
In the first step, a 500-ten-thousand-pixel black-and-white camera is adopted as the camera, an annular light source is adopted as the light source, a telecentric lens is adopted as the lens to reduce image distortion, a Zhang's calibration method is adopted for camera calibration, internal parameters and external parameters of the camera are well set, an image obtained by the camera is transmitted to a computer vision system through a data acquisition line, and subsequent image processing and other operations are performed by the computer vision system.
In the first step, preprocessing the original image obtained by the camera, including image enhancement and Gaussian filtering to obtain an improved image, global threshold segmentation processing to obtain a heat pipe ROI region, and then performing operations such as corrosion, expansion, closing operation and internal filling to the heat pipe ROI region to obtain a complete heat pipe region.
In the second step, according to the obtained heat pipe ROI area, the heat pipe area is fitted by using an inscribed rectangle operator to generate a heat pipe inscribed rectangle, and because the gray value of the marking area is different from that of the heat pipe, the marking area is binarized by adopting different gray values, then the marking area is obtained by adopting operations such as global threshold segmentation, closing operation and internal filling, and the marking area is fitted by using the inscribed rectangle operator to generate a marking area inscribed rectangle.
In the third step, the center coordinates of the inscribed rectangle of the heat pipe are calculated, and are approximately equivalent to the center coordinates of the heat pipe, and the center coordinates of the inscribed rectangle of the marking area are calculated, and are approximately equivalent to the center coordinates of the marking area. And (3) solving the pixel coordinate distance of the center coordinates of the two in the radial direction of the heat pipe, and converting the pixel coordinate distance of the center coordinates of the heat pipe and the marking area in the image in the radial direction of the heat pipe into the length distance of the real world according to the participation of the camera obtained in the step (I) in the external parameters.
In the third step, according to the obtained length distance between the heat pipe and the real world of the central coordinate of the marking area in the radial direction of the heat pipe, judging whether the length distance is smaller than 0.1mm, if the length distance is smaller than 0.1mm, judging that the marking area of the heat pipe is positioned, and if the length distance is larger than 0.1mm, the marking of the heat pipe is not positioned. If the heat pipe is not positioned, the computer vision system sends an instruction to the motion controller to control the motor to rotate, the camera continuously shoots and repeats the image processing operation until the heat pipe marking area is positioned, the motor stops rotating, and the identification is finished.
The utility model provides a mark identification positioning device is beaten to heat pipe based on machine vision center coordinate method utilizes mechanical structure to beat the mark location of heat pipe, mainly includes heat pipe and beaten mark visual identification mechanism and heat pipe and move material mechanism, the mechanism bears following function:
the heat pipe marking visual recognition mechanism utilizes a motor to drive a gas claw to grasp the tail part of the heat pipe, if the heat pipe marking area in the third step is positioned, the motor does not rotate according to the indication given by the computer visual system, and the heat pipe is transferred by the material transferring mechanism; if the heat pipe marking area in the third step is not positioned, the motor starts to drive the heat pipe to rotate according to the indication given by the computer vision system, the camera starts to continuously shoot and repeat the marking positioning method until the heat pipe marking area is positioned, at the moment, the motor stops rotating, the camera stops collecting pictures, the identification is finished, and the heat pipe is transferred by the material transferring mechanism.
The heat pipe marking visual identification mechanism comprises a supporting rib plate, a fixed bottom plate, a fine adjustment sliding table, a camera fixing plate, a camera, a lens, an annular light source, a first light source fixing block, a second light source fixing block, a heat pipe fixing die, a first guide rail, a guide rail fixing plate, a flexible clamping jaw, a connecting flange, a connecting ring block, a sliding ring, a motor mounting block, a coupler, a heat pipe rotating servo motor, a motor moving bottom plate, a second guide rail, a third guide rail, a supporting plate, a fourth guide rail, a fifth guide rail and a cylinder. The camera is installed on the camera, the camera is installed on the camera fixed plate and is connected with the computer vision system through the net twine, the camera fixed plate is installed on the fine tuning slipway, the fine tuning slipway is fixed on the workstation through fixed bottom plate and support floor, and the light source is fixed on fixed bottom plate through first light source fixed block and second light source fixed block. The heat pipe is placed on the heat pipe fixing mould, and the heat pipe fixing mould is fixed on the workbench through being installed on the first guide rail and the guide rail fixing plate, and the position of the sliding block on the first guide rail is changed according to the length change of the heat pipe, so that the purpose of supporting the heat pipe is achieved. The heat pipe rotary servo motor is arranged on the motor installation block and is connected to the slip ring through a coupling, and the flexible clamping jaw is fixed on the connecting flange and then connected to the connecting ring block to be connected with the slip ring. The cylinder is connected with the motor movable bottom plate through connection.
The heat pipe is placed on the heat pipe fixing die, the air cylinder pushes the motor moving bottom plate away from the heat pipe, the flexible clamping jaw is opened at the moment, the air cylinder pulls the motor moving bottom plate towards the heat pipe again, the tail end of the heat pipe enters the flexible clamping jaw at the moment, the flexible clamping jaw is controlled to be closed, the heat pipe is grabbed and fixed by the flexible clamping jaw, the heat pipe is connected to the heat pipe rotating servo motor from the flexible clamping jaw, and the heat pipe rotating servo motor rotates to drive the flexible clamping jaw to rotate so as to drive the heat pipe. The camera, the lens and the light source together form a vision system to carry out photographing treatment on the heat pipe. The heat pipe is placed on the heat pipe fixing die, the camera starts shooting to acquire an image, the computer vision system processes the image, the marking position of the heat pipe is identified, if the marking position is positioned, the vision identification is finished, the heat pipe is transferred by the heat pipe material transferring mechanism, if the marking position is not positioned, the heat pipe rotating servo motor starts rotating, the camera starts shooting at the same time, the image processing operation is repeated until the heat pipe is positioned, the heat pipe rotating servo motor stops rotating, the vision identification is finished, and the heat pipe is transferred by the heat pipe material transferring mechanism.
And (3) the heat pipe material transferring mechanism transfers the positioned heat pipe by using the flexible air claw, and if the heat pipe in the step (III) is identified and positioned, the heat pipe material transferring mechanism performs grabbing and material transferring operation on the positioned heat pipe.
The heat pipe material transferring mechanism comprises a material transferring first flexible clamping jaw, a material transferring second flexible clamping jaw, a first flexible clamping jaw connecting block, a first optical axis, a second optical axis, a material transferring third flexible clamping jaw, a material transferring fourth flexible clamping jaw, a second flexible clamping jaw connecting block, a third optical axis, a fourth optical axis, a cylinder mounting plate, a material transferring cylinder, a cantilever reinforcing rib, a feeding main board, a first fixed rib plate, a second fixed rib plate, a material transferring motor, a first material transferring guide rail, a synchronous wheel, a second material transferring guide rail, a synchronous belt fixed metal plate and a sliding block connecting plate. Move first flexible clamping jaw of material, move the flexible clamping jaw of material second, move the flexible clamping jaw of material third, move the flexible clamping jaw of material fourth and be fixed through first flexible clamping jaw connecting block, the flexible clamping jaw connecting block of second, first optical axis, second optical axis, third optical axis, fourth optical axis are fixed on the cylinder mounting panel through the jackscrew, the cylinder mounting panel is in moving material cylinder department through screwed connection, move the material cylinder and pass through the effect of cantilever and cantilever strengthening rib to be fixed on the slider connecting plate. The material moving motor is fixed on the feeding main board, the synchronous wheel is connected, the synchronous belt is installed on the synchronous wheel, the synchronous belt is connected to the synchronous belt fixing metal plate, the synchronous belt fixing metal plate is fixed on the sliding block connecting plate, and the whole mechanism is fixed on the workbench through the first fixing rib plate and the second fixing rib plate.
And if the heat pipe marking area is positioned, transferring by a heat pipe transferring mechanism. After the heat pipe marking area is positioned, a first flexible clamping jaw for moving materials, a second flexible clamping jaw for moving materials, a third flexible clamping jaw for moving materials and a fourth flexible clamping jaw for moving materials are opened, a material moving cylinder descends, the flexible clamping jaw is closed after reaching the position of the heat pipe, the heat pipe is grabbed, then the material moving cylinder ascends, a motor starts to rotate, a synchronous wheel is driven to rotate, and a synchronous belt on the synchronous wheel moves along with the synchronous wheel so as to drive a sliding block connecting plate to move, so that the heat pipe is transferred.
Drawings
FIG. 1 is a flow chart of a heat pipe marking location algorithm of the present invention;
FIG. 2 is a general assembly schematic of the heat pipe print head positioning of the present invention;
FIG. 3 is an assembled schematic view of a visual recognition mechanism for heat pipe marking according to the present invention;
FIG. 4 is an assembled schematic view of a heat pipe transfer mechanism of the present invention.
Detailed description of the preferred embodiments
The specific technical scheme of the invention is described with reference to the accompanying drawings.
Please refer to fig. 1 for a method for locating a mark of a heat pipe, which is based on a machine vision center coordinate method, wherein a computer vision system is used for processing and locating and judging the mark of the heat pipe, and the method comprises three steps of image preprocessing, feature extraction and locating and identifying, and comprises the following steps:
step one: image preprocessing, including camera calibration, camera starting, image acquisition, image segmentation, threshold segmentation, ROI acquisition, morphological processing and the like; the camera in the heat pipe marking visual recognition mechanism transmits the acquired picture to the computer visual system for image processing operation, and the image acquired by the camera is preprocessed through the operation, so that the image with good quality is obtained, and a foundation is laid for the following feature extraction step.
Step two: the feature extraction comprises the steps of performing heat pipe identification, marking identification, inscribed rectangle fitting, calculating the center coordinates of inscribed rectangles of the heat pipes, calculating the center coordinates of inscribed rectangles of the marking and the like on the preprocessed image; and carrying out feature recognition on the preprocessed image, respectively carrying out binarization processing of different gray values on the heat pipe and the marking area, obtaining the ROI area of the heat pipe and the marking area, and respectively fitting the heat pipe and the marking area by using an inscribed rectangle operator.
Step three: positioning and identifying, including calculating the center coordinates of the inscribed rectangle, judging the marking position and the like; calculating center coordinates of inscribed rectangles of the heat pipe and the marking area obtained in the second step, calculating pixel coordinate distances of the heat pipe and the marking area in the radial direction of the heat pipe, and obtaining the length distances of the heat pipe and the marking area in the real world in the radial direction of the heat pipe by using internal and external parameters calibrated by a camera in the first step. Judging whether the marking area is positioned according to the obtained length distance of the real world, if not, sending an instruction by the computer vision system to control the motor to rotate the heat pipe, continuously photographing, and then operating until the marking area of the heat pipe is positioned, and stopping rotating the motor.
Please refer to the general assembly schematic diagram of the heat pipe marking location in fig. 2, the assembly schematic diagram of the heat pipe marking visual identification mechanism in fig. 3, and the assembly schematic diagram of the heat pipe material transfer mechanism in fig. 4 on the device structure;
the heat pipe 1-10 is placed on the heat pipe fixing die 1-11, the heat pipe fixing die 1-11 is fixed on the workbench through being installed on the first guide rail 1-12 and the guide rail fixing plate 1-13, and the position of the sliding block on the first guide rail 1-12 is changed according to the length change of the heat pipe, so that the purpose of supporting the heat pipe is achieved. The heat pipe rotary servo motor 1-20 is arranged on a motor mounting block 1-18 and is connected to the slip ring 1-17 through a coupler 1-19, and the flexible clamping jaw 1-14 is connected with the slip ring 1-17 through being fixed on a connecting flange 1-15 and then connected to a connecting ring block 1-16. The cylinders 1-27 are connected to the motor moving base 1-21 by means of connections.
The first flexible clamping jaw 2-1, the second flexible clamping jaw 2-2, the third flexible clamping jaw 2-6 and the fourth flexible clamping jaw 2-7 are fixed through the first flexible clamping jaw connecting block 2-3 and the second flexible clamping jaw connecting block 2-8, the first optical axis 2-4, the second optical axis 2-5, the third optical axis 2-9 and the fourth optical axis 2-10 are fixed on the cylinder mounting plate 2-11 through jackscrews, the cylinder mounting plate 2-11 is connected to the position of the material moving cylinder 2-12 through screws, and the material moving cylinder 2-12 is fixed on the sliding block connecting plate 2-23 through the action of the cantilever 2-13 and the cantilever reinforcing ribs 2-14. The material moving motor 2-18 is fixed on the feeding main board 2-15, a synchronous belt is arranged on the synchronous wheel by connecting the synchronous wheel 2-20, the synchronous belt is connected to the synchronous belt fixing sheet metal 2-22, the synchronous belt fixing sheet metal 2-22 is fixed on the sliding block connecting board 2-23, and the whole mechanism is fixed on the workbench 3 through the first fixing rib board 2-16 and the second fixing rib board 2-17.
The following is the working principle of the positioning method and the device:
the camera adopts a 500-ten-thousand-pixel black-and-white camera, the light source adopts an annular light source, the lens adopts a telecentric lens to reduce image distortion, the camera calibration adopts a Zhang calibration method, internal parameters and external parameters of the camera are set, the image acquired by the camera is transmitted to a computer vision system through a data acquisition line, and the computer vision system performs subsequent image processing and other operations. The method comprises the steps of preprocessing an original image obtained by a camera, performing image enhancement and Gaussian filtering on the original image to obtain an improved image, performing global threshold segmentation on the improved image to obtain a heat pipe ROI (region of interest), and performing operations such as corrosion, expansion, closing operation, internal filling and the like on the heat pipe ROI to obtain a complete heat pipe region. According to the obtained heat pipe ROI area, fitting the heat pipe area by using an inscribed rectangle operator to generate a heat pipe inscribed rectangle, and because the gray value of the marking area is different from that of the heat pipe, binarizing the marking area by adopting different gray values, obtaining the marking area by adopting operations such as global threshold segmentation, closing operation, internal filling and the like, and fitting the marking area by using the inscribed rectangle operator to generate the marking area inscribed rectangle. And calculating the center coordinates of the inscribed rectangle of the heat pipe, and approximately equating the center coordinates to the center coordinates of the heat pipe, and similarly calculating the center coordinates of the inscribed rectangle of the marking area, and approximately equating the center coordinates to the center coordinates of the marking area. And solving the pixel coordinate distance of the center coordinates of the two in the radial direction of the heat pipe, and converting the pixel coordinate distance of the center coordinates of the heat pipe and the marking area in the image in the radial direction of the heat pipe into the length distance of the real world according to the obtained participation of the camera in the external parameters. Judging whether the length distance between the obtained heat pipe and the real world of the central coordinate of the marking area in the radial direction of the heat pipe is smaller than 0.1mm or not according to the length distance between the obtained heat pipe and the real world of the marking area, if the real length distance is smaller than 0.1mm, judging that the marking area of the heat pipe is positioned, and if the real length distance is larger than 0.1mm, the marking area of the heat pipe is not positioned. If the heat pipe marking area is not positioned, the computer vision system sends an instruction to the motion controller to control the motor to rotate, the camera continuously shoots and repeats the image processing operation until the heat pipe marking area is positioned, the motor stops rotating, and the identification is finished. And the heat pipe is transferred out by the heat pipe transfer mechanism until the heat pipe marking area is positioned.
The heat pipe is placed on a heat pipe fixing die 1-11, an air cylinder 1-27 pushes a motor moving bottom plate 1-21 away from the heat pipe, at the moment, a flexible clamping jaw 1-14 is opened, the air cylinder 1-27 pulls the motor moving bottom plate 1-21 towards the heat pipe, at the moment, the tail end of the heat pipe 1-10 enters the flexible clamping jaw 1-14, at the moment, the flexible clamping jaw 1-14 is controlled to be closed, so that the heat pipe 1-10 is grabbed and fixed by the flexible clamping jaw 1-14, the heat pipe is connected to a heat pipe rotating servo motor 1-20 from the flexible clamping jaw 1-14, and the rotation of the heat pipe rotating servo motor 1-20 drives the rotation of the flexible clamping jaw 1-14 so as to drive the rotation of the heat pipe 1-10. The camera 1-5, the lens 1-6 and the light source 1-7 together form a vision system to photograph the heat pipe 1-10.
The heat pipe is placed on the heat pipe fixing die, the camera starts shooting to acquire an image, the computer vision system processes the image, the marking position of the heat pipe is identified, if the marking position is positioned, the vision identification is finished, the heat pipe is transferred by the heat pipe material transferring mechanism, if the marking position is not positioned, the heat pipe rotating servo motor starts rotating, the camera starts shooting at the same time, the image processing operation is repeated until the heat pipe is positioned, the heat pipe rotating servo motor stops rotating, the vision identification is finished, and the heat pipe is transferred by the heat pipe material transferring mechanism.
And if the heat pipe marking area is positioned, transferring by a heat pipe transferring mechanism. After the heat pipe marking area is positioned, a first flexible clamping jaw 2-1 for moving materials, a second flexible clamping jaw 2-2 for moving materials, a third flexible clamping jaw 2-6 for moving materials and a fourth flexible clamping jaw 2-7 for moving materials are opened, a material moving cylinder 2-12 descends, the flexible clamping jaws close after reaching the position of the heat pipe, the heat pipe is grabbed, then the material moving cylinder 2-12 ascends, a motor 2-18 starts to rotate, a synchronous wheel is driven to rotate, and a synchronous belt on the synchronous wheel moves to drive a sliding block connecting plate 2-23 to move, so that the heat pipe is transferred.
Claims (9)
1. A heat pipe marking positioning method based on a machine vision center coordinate method is characterized by comprising the following steps of: the method comprises the steps of processing and positioning judgment of a heat pipe marking image by using a computer vision system, wherein the heat pipe marking image comprises three steps of image preprocessing, feature extraction and positioning recognition, and the specific steps are as follows:
step one: image preprocessing, including camera calibration, camera starting, image acquisition, image segmentation, threshold segmentation, ROI acquisition and morphological processing; transmitting the acquired picture to a computer vision system by a camera in a heat pipe marking visual recognition mechanism for image processing operation, and preprocessing the image acquired by the camera by the operation;
step two: the feature extraction comprises the steps of carrying out heat pipe identification, marking identification, inscribed rectangle fitting, calculating the center coordinates of inscribed rectangles of the heat pipes and calculating the center coordinates of inscribed rectangles of the marking on the preprocessed image; performing feature recognition on the preprocessed image, performing binarization processing of different gray values on the heat pipe and the marking area respectively, obtaining ROI areas of the heat pipe and the marking area, and fitting the heat pipe and the marking area respectively by using inscribed rectangular operators;
step three: positioning and identifying, including calculating the center coordinates of the inscribed rectangle and judging the marking position; calculating center coordinates of inscribed rectangles of the heat pipe and the marking area obtained in the second step, calculating pixel coordinate distances of the heat pipe and the marking area in the radial direction of the heat pipe, and obtaining the length distances of the heat pipe and the marking area in the real world in the radial direction of the heat pipe by using internal and external parameters calibrated by a camera in the first step; judging whether the marking area is positioned according to the obtained length distance of the real world, if not, sending an instruction by the computer vision system to control the motor to rotate the heat pipe, continuously photographing, repeating the operations until the marking area of the heat pipe is positioned, and stopping rotating the motor.
2. The heat pipe marking and positioning method based on the machine vision center coordinate method as claimed in claim 1, wherein the method comprises the following steps: in the first step, a 500-ten-thousand-pixel black-and-white camera is adopted as the camera, an annular light source is adopted as the light source, a telecentric lens is adopted as the lens, a Zhang's calibration method is adopted for camera calibration, internal parameters and external parameters of the camera are set, an image acquired by the camera is transmitted to a computer vision system through a data acquisition line, and a subsequent image processing operation is carried out by the computer vision system.
3. The heat pipe marking and positioning method based on the machine vision center coordinate method as claimed in claim 1, wherein the method comprises the following steps: in the first step, preprocessing the original image obtained by the camera, including image enhancement and Gaussian filtering to obtain an improved image, global threshold segmentation processing to obtain a heat pipe ROI region, and then performing corrosion, expansion, closing operation and internal filling operation to the heat pipe ROI region to obtain a complete heat pipe region.
4. The heat pipe marking and positioning method based on the machine vision center coordinate method as claimed in claim 1, wherein the method comprises the following steps: in the second step, fitting is performed on the heat pipe region by using an inscribed rectangle operator according to the obtained heat pipe ROI region to generate a heat pipe inscribed rectangle, binarization processing is performed on the marking region by using different gray values, then the marking region is obtained by using global threshold segmentation, closing operation, internal filling and other operations, and fitting is performed on the marking region by using the inscribed rectangle operator to generate a marking region inscribed rectangle.
5. The heat pipe marking and positioning method based on the machine vision center coordinate method as claimed in claim 1, wherein the method comprises the following steps: in the third step, calculating the central coordinate of the inscribed rectangle of the heat pipe, and approximately equating the central coordinate to the central coordinate of the heat pipe, and also calculating the central coordinate of the inscribed rectangle of the marking area, and approximately equating the central coordinate to the central coordinate of the marking area;
and (3) solving the pixel coordinate distance of the center coordinates of the two in the radial direction of the heat pipe, and converting the pixel coordinate distance of the center coordinates of the heat pipe and the marking area in the image in the radial direction of the heat pipe into the length distance of the real world according to the participation of the camera obtained in the step (I) in the external parameters.
6. The heat pipe marking and positioning method based on the machine vision center coordinate method as claimed in claim 1, wherein the method comprises the following steps: in the third step, according to the obtained length distance between the heat pipe and the real world of the central coordinate of the marking area in the radial direction of the heat pipe, judging whether the length distance is smaller than 0.1mm, if the length distance is smaller than 0.1mm, judging that the marking area of the heat pipe is positioned, and if the length distance is larger than 0.1mm, the marking of the heat pipe is not positioned;
if the heat pipe is not positioned, the computer vision system sends an instruction to the motion controller to control the motor to rotate, the camera continuously shoots and repeats the image processing operation until the heat pipe marking area is positioned, the motor stops rotating, and the identification is finished.
7. A heat pipe marking and positioning device based on a machine vision center coordinate method is characterized in that: a heat pipe marking location method based on a machine vision center coordinate method for implementing any one of claims 1 to 6;
the device comprises a computer vision system, a heat pipe marking vision mechanism and a heat pipe material transferring mechanism; processing and positioning judgment are carried out on the heat pipe marking image by using a computer vision system;
positioning a heat pipe marking visual identification mechanism and a heat pipe material moving mechanism for positioning the heat pipe marking based on a heat pipe marking of a machine visual center coordinate method;
the heat pipe marking visual recognition mechanism utilizes a motor to drive a gas claw to grasp the tail part of the heat pipe, if the heat pipe marking area in the third step is positioned, the motor does not rotate according to the indication given by the computer visual system, and the heat pipe is transferred by the material transferring mechanism; if the heat pipe marking area in the third step is not positioned, the motor starts to drive the heat pipe to rotate according to the indication given by the computer vision system, the camera starts to continuously shoot and repeat the marking identification positioning method until the heat pipe marking area is positioned, at the moment, the motor stops rotating, the camera stops collecting pictures, the identification is finished, and the heat pipe is transferred by the material transferring mechanism;
the heat pipe material transferring mechanism transfers the positioned heat pipe by using the flexible air claw, and if the heat pipe in the step three is identified and positioned, the heat pipe material transferring mechanism performs grabbing and material transferring work on the positioned heat pipe.
8. The heat pipe marking and positioning device based on the machine vision center coordinate method as claimed in claim 7, wherein: the heat pipe marking visual identification mechanism comprises a supporting rib plate (1-1), a fixed bottom plate (1-2), a fine adjustment sliding table (1-3), a camera fixing plate (1-4), a camera (1-5), a lens (1-6), an annular light source (1-7), a first light source fixing block (1-8), a second light source fixing block (1-9), a heat pipe (1-10), a heat pipe fixing die (1-11), a first guide rail (1-12), a guide rail fixing plate (1-13), a flexible clamping jaw (1-14), a connecting flange (1-15), a connecting ring block (1-16), a sliding ring (1-17), a motor mounting block (1-18), a coupler (1-19), a heat pipe rotating servo motor (1-20), a motor moving bottom plate (1-21), a second guide rail (1-22), a third guide rail (1-23), a supporting plate (1-24), a fourth guide rail (1-25), a fifth guide rail (1-26) and a cylinder (1-27);
the lens (1-6) is arranged on the camera (1-5); the camera (1-5) is arranged on the camera fixing plate (1-4) and is connected with the computer vision system through a network cable, the camera fixing plate (1-4) is arranged on the fine adjustment sliding table (1-3), the fine adjustment sliding table (1-3) is fixed on the workbench (3) through the fixing bottom plate (1-2) and the supporting rib plate (1-1), and the light source (1-7) is fixed on the fixing bottom plate (1-2) through the first light source fixing block (1-8) and the second light source fixing block (1-9); the heat pipe (1-10) is placed on the heat pipe fixing die (1-11), the heat pipe fixing die (1-11) is fixed on the workbench through being installed on the first guide rail (1-12) and the guide rail fixing plate (1-13), and the position of the sliding block on the first guide rail (1-12) is changed according to the length change of the heat pipe, so that the purpose of supporting the heat pipe is achieved; the heat pipe rotary servo motor (1-20) is arranged on a motor installation block (1-18), is connected to the slip ring (1-17) through a coupler (1-19), and the flexible clamping jaw (1-14) is connected to the slip ring (1-17) through a connecting flange (1-15) and then connected to a connecting ring block (1-16); the air cylinders (1-27) are connected with the motor movable bottom plates (1-21).
9. The heat pipe marking and positioning device based on the machine vision center coordinate method, as set forth in claim 8, is characterized in that the heat pipe material moving mechanism comprises a first flexible clamping jaw (2-1), a second flexible clamping jaw (2-2), a first flexible clamping jaw connecting block (2-3), a first optical axis (2-4), a second optical axis (2-5), a third flexible clamping jaw (2-6), a fourth flexible clamping jaw (2-7), a second flexible clamping jaw connecting block (2-8), a third optical axis (2-9), a fourth optical axis (2-10), a cylinder mounting plate (2-11), a material moving cylinder (2-12), a cantilever (2-13), a cantilever reinforcing rib (2-14), a feeding main board (2-15), a first fixed rib plate (2-16), a second fixed rib plate (2-17), a material moving motor (2-18), a first material moving guide rail (2-19), a synchronizing wheel (2-20), a second material moving guide rail (2-21), a synchronizing belt fixed slide block (2-22) and a connecting plate (2-23); the device comprises a first flexible clamping jaw (2-1), a second flexible clamping jaw (2-2), a third flexible clamping jaw (2-6) and a fourth flexible clamping jaw (2-7) which are used for moving materials, wherein the first flexible clamping jaw and the second flexible clamping jaw are respectively fixed through a first flexible clamping jaw connecting block (2-3) and a second flexible clamping jaw connecting block (2-8), a first optical axis (2-4), a second optical axis (2-5), a third optical axis (2-9) and a fourth optical axis (2-10) are fixed on a cylinder mounting plate (2-11) through jackscrews, the cylinder mounting plate (2-11) is connected to a moving cylinder (2-12) through screws, and the moving cylinder (2-12) is fixed on a sliding block connecting plate (2-23) through the actions of a cantilever (2-13) and a cantilever reinforcing rib (2-14); the material moving motor (2-18) is fixed on the material feeding main board (2-15), a synchronous belt is arranged on the synchronous wheel through connecting the synchronous wheel (2-20), the synchronous belt is connected to a synchronous belt fixing sheet metal (2-22), the synchronous belt fixing sheet metal (2-22) is fixed on the sliding block connecting board (2-23), and the whole mechanism is fixed on the workbench (3) through the first fixing rib plate (2-16) and the second fixing rib plate (2-17).
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| CN109926724B (en) * | 2019-03-21 | 2021-05-25 | 大族激光科技产业集团股份有限公司 | double-CCD positioning marking method, double-CCD positioning marking system and storage medium |
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| CN114972734A (en) * | 2022-05-27 | 2022-08-30 | 华南理工大学 | Heat pipe marking identification device and method based on machine vision |
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