CN117952970A - Online high-speed high-precision marking device, method and storage medium - Google Patents
Online high-speed high-precision marking device, method and storage medium Download PDFInfo
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Abstract
The invention relates to an online high-speed high-precision marking method, which comprises the following steps: continuously shooting to obtain detection images of corresponding detection points at shooting points; coding detection images of detection points one by one according to set pulse intervals; analyzing and processing the coded detection image of each detection point to obtain the mark distance of each mark point relative to each detection point; calculating the absolute coordinates of each marking point according to the corresponding codes and the corresponding coding step length conversion relative coordinates of the detection images of each detection point, combining the marking distance and the distance between the shooting point and the marking point, simultaneously obtaining the codes corresponding to the current detection images at the shooting point, converting the coding step length to obtain the comparison coordinates and the absolute coordinates, comparing the comparison coordinates and the absolute coordinates, and triggering marking signals when the comparison coordinates and the absolute coordinates are identical; marking the marking points according to the marking signals. The method only involves the operation of distance, can greatly reduce the operation amount, realizes high-speed marking, is not influenced by the transmission speed of a pipeline, and ensures the high precision of marking.
Description
Technical Field
The invention relates to the field of laser online marking, in particular to an online high-speed high-precision marking device and method on a production line and a storage medium.
Background
Along with the continuous improvement of the industrial level, the requirements of factories on the production efficiency are gradually improved, the production by using a production line becomes normal, and in order to improve the marking efficiency, the marking device is also popularized by being installed on the production line. The existing marking device adopts laser as marking energy, and can mark various objects to be marked such as pole pieces and the like. The pole piece is a strip-shaped sheet belt with negligible thickness, and is placed on a production line and driven to move along the direction of the production line. Referring to fig. 1, the conventional on-line marking apparatus includes a sensor, a marking analysis unit 40 and a laser marking device 50. The corresponding movement speed of the pole piece belt P at the detection point is obtained through an inductor of an induction point A fixed on the production assembly line; the marking analysis unit 40 calculates and outputs a delay time according to the movement speed and a fixed movement distance r; the laser marking device 50 completes marking action according to the delay time.
In actual production, a certain distance r exists between the front end of the laser marker 50 and the laser marker 50 at the installation position of the sensor in the direction of the movement of the assembly line work, and when the production line speed is v, a certain time is needed for the object to be marked to move from the sensing point A to the marking point B, namely, the time delay time t1: ; the sensor detects that the object to be marked transmits the marking signal to the laser marking device 50 for marking, the time is the transmission time t2 of the marking of the laser marking device 50, and the laser marking device 50 can mark the same position of each object to be marked required to be marked each time only when the delay time t1 and the transmission time t2 are equal. Once the line speed is changed, the conveying time is correspondingly shortened or lengthened, namely, the conveying time is smaller or larger than the delay time, and the marking position on the object to be marked is different each time. However, in order to save costs, many factories use the same line to transport different objects to be marked, and the speeds of the lines are different. For a marking line, if the line speed changes in the case where the positions of the laser marker 50 and the sensor are fixed, the position of the mark on the object to be marked will also change, and even the mark cannot be marked on the object to be marked. In order to ensure that the on-line marking device marks on the same positions of different objects to be marked, the installation positions of the sensors are required to be continuously adjusted, so that the transmission time is equal to the delay time, the marking can be continuously carried out, the production is greatly inconvenient, the production efficiency is greatly reduced, the installation positions of the sensors are frequently changed, and the occurrence probability and the numerical value of errors are greatly increased.
Disclosure of Invention
Based on the above, the invention aims to provide an online high-speed high-precision marking device, which adopts a method of calculating coordinates by an encoder, can be applied to a production line with continuously changing speed, does not need repeated shutdown adjustment, and synchronously improves marking efficiency and precision.
An online high-speed high-precision marking device comprises an image collector, an encoder, an image analysis unit, a marking analysis unit and a laser marking device;
the image collector continuously shoots and acquires detection images of corresponding detection points at shooting points;
the encoder encodes the detection images of the detection points one by one according to the set pulse interval, and transmits the detection images encoded by the belt to the image analysis unit one by one;
the image analysis unit analyzes and processes the coded detection image of each detection point to obtain the mark distance of each mark point relative to each detection point;
The marking analysis unit converts relative coordinates according to codes and coding step sizes corresponding to the detection images of each detection point, calculates absolute coordinates of each marking point according to the relative coordinates, the marking distance of each marking point and the distance between the shooting point and the marking point, simultaneously acquires codes corresponding to the current detection images at the shooting point in real time, converts the codes into comparison coordinates by using the coding step sizes, compares the comparison coordinates with the absolute coordinates, and triggers marking signals when the codes and the absolute coordinates are identical;
the laser marker marks the marking points according to the marking signals.
Further, the marking analysis unit comprises a coordinate calculation module for converting relative coordinates according to the code m and the code step h corresponding to the detection image of each detection pointCalculating absolute coordinates/>, of each mark point according to the relative coordinates X, the mark distance S of each mark point and the distance L between the shooting point C and the mark point B。
Further, the marking analysis unit further comprises a coordinate comparison module for acquiring the code corresponding to the current detection image at the shooting point C in real timeAnd obtaining the comparison coordinate/>, by converting the coding step lengthAnd compared with the absolute coordinate Y, when/>The marking signal is triggered.
Further, the encoder comprises a rotating wheel, a signal transmitting terminal, a signal receiving terminal and an encoding element, wherein a gap is formed in the rotating wheel, a signal transmitted by the signal transmitting terminal is received by the signal receiving terminal after passing through the gap, when the rotating wheel is driven to rotate by the production line, the rotating gap divides the signal into pulses, the encoding element is triggered to count each time the signal receiving terminal receives the pulses, encoding is formed, and the encoding step length is h.
The invention also provides an online high-speed high-precision marking method, which comprises the following steps:
Continuously shooting to obtain detection images of corresponding detection points at shooting points;
coding detection images of detection points one by one according to set pulse intervals;
Analyzing and processing the coded detection image of each detection point to obtain the mark distance of each mark point relative to each detection point;
Calculating the absolute coordinates of each marking point according to the relative coordinates, the marking distance of each marking point and the distance between the shooting point and the marking point, and simultaneously acquiring the codes corresponding to the current detection image at the shooting point in real time, converting the codes with the coding step to obtain the comparison coordinates, comparing the comparison coordinates with the absolute coordinates, and triggering marking signals when the comparison coordinates and the absolute coordinates are identical;
marking the marking points according to the marking signals.
Further, calculating the absolute coordinates of each detection point specifically includes:
Converting relative coordinates according to the code m and the code step length h corresponding to the detection image of each detection point Calculating absolute coordinates/>, of each mark point according to the relative coordinates X, the mark distance S of each mark point and the distance L between the shooting point C and the mark point B。
Further, the comparison absolute coordinates and the comparison coordinates specifically include:
Acquiring codes corresponding to current detection images at shooting point C in real time And obtaining the comparison coordinate/>, by converting the coding step lengthAnd compared with the absolute coordinate Y, when/>The marking signal is triggered.
The invention also provides a computer readable storage medium for on-line high-speed high-precision marking, the computer readable storage medium storing a computer program which when executed by a processor performs the steps of:
Continuously shooting to obtain detection images of corresponding detection points at shooting points;
coding detection images of detection points one by one according to set pulse intervals;
Analyzing and processing the coded detection image of each detection point to obtain the mark distance of each mark point relative to each detection point;
Calculating the absolute coordinates of each marking point according to the relative coordinates, the marking distance of each marking point and the distance between the shooting point and the marking point, and simultaneously acquiring the codes corresponding to the current detection image at the shooting point in real time, converting the codes with the coding step to obtain the comparison coordinates, comparing the comparison coordinates with the absolute coordinates, and triggering marking signals when the comparison coordinates and the absolute coordinates are identical;
marking the marking points according to the marking signals.
Further, calculating the absolute coordinates of each detection point specifically includes:
Converting relative coordinates according to the code m and the code step length h corresponding to the detection image of each detection point Calculating absolute coordinates/>, of each mark point according to the relative coordinates X, the mark distance S of each mark point and the distance L between the shooting point C and the mark point B。
Further, the comparison absolute coordinates and the comparison coordinates specifically include:
Acquiring codes corresponding to current detection images at shooting point C in real time And obtaining the comparison coordinate/>, by converting the coding step lengthAnd compared with the absolute coordinate Y, when/>The marking signal is triggered.
For a better understanding and implementation, the present invention is described in detail below with reference to the drawings.
Drawings
Fig. 1 is a diagram showing a structure of a conventional on-line marking apparatus.
FIG. 2 is a block diagram of an on-line high-speed and high-precision marking device according to the present invention.
Fig. 3 is a schematic view of an image capturing device according to the present invention.
Detailed Description
Referring to fig. 2, the on-line high-speed and high-precision marking device of the present invention includes an image collector 10, an encoder 20, an image analysis unit 30, a marking analysis unit 40 and a laser marking device 50. The image collector 10 and the laser marker 50 are arranged on a production line to be marked, and the laser marker 50 is arranged at the rear of the image collector 10 along the moving direction of the production line, and the distance between the two is L; the image collector 10 continuously shoots and acquires detection images of corresponding detection points at the shooting point C; the encoder 20 encodes the detection images one by one at set pulse intervals, and transfers the encoded detection images one by one to the image analysis unit 30; the image analysis unit 30 analyzes and processes the coded detection image of each detection point to obtain a mark distance S of each mark point in the detection image relative to each shooting point; the marking analysis unit 40 converts the relative coordinates X according to the codes m and the code step h corresponding to the detected image of each detection point, calculates the absolute coordinates Y of each mark point according to the relative coordinates, the mark distance S of each mark point and the distance L between the shooting point and the marking point, and simultaneously acquires the codes corresponding to the current detected image at the shooting point C in real timeThe comparison coordinate Z is obtained through conversion of the coding step length and is compared with the absolute coordinate Y, and when the comparison coordinate Z and the absolute coordinate Y are identical, a marking signal is triggered; the laser marker 50 marks the marking point B according to the marking signal.
Referring to fig. 3, the image collector 10 continuously captures a detection image T of a corresponding detection point at the capturing point C. In this embodiment, the image collector 10 adopts a line scanning camera (not shown), so as to facilitate calculation, and the image that is normally shot by the line scanning camera is a rectangular image with a larger area, which takes a lateral edge passing through the shooting point C and perpendicular to the working movement direction at the rear end in the working movement direction as a bottom edge, the rectangular image extends from the bottom edge along the working movement direction, and the marking point D that needs to be marked is located in the rectangular image and is spaced from the bottom edge S. In the single marking process, the shooting point C and the marking point D are positioned on the same straight line, and the distance is S, so that an interested area is set for the line scanning camera, and the images of most of non-working areas are omitted, so that the memory of the detection image of the detection point finally obtained by the line scanning camera is greatly reduced, the transmission rate is improved, the high frame rate can be realized, and the accuracy of the subsequent image analysis is ensured.
The encoder 20 encodes the detection images obtained by the image collector 10 one by one at set pulse intervals, and transfers the encoded detection images one by one to the image analysis unit 30. Specifically, the encoder 20 includes a rotating wheel, a signal transmitting terminal, a signal receiving terminal and an encoding element, a gap is formed on the rotating wheel, a signal transmitted by the signal transmitting terminal is received by the signal receiving terminal after passing through the gap, when the rotating wheel is driven to rotate by the production line, the rotating gap divides the signal into pulses, the encoding element is triggered to count each time the signal receiving terminal receives the pulses, so as to form an encoding, and the encoding step length is h. The encoder 20 is installed on a production line, the specific installation position can be changed at will, and the rotating wheel of the encoder 20 is driven by the production line to move synchronously with the pole piece belt P, so that the detection image of the detection point obtained by shooting by the image collector 10 is encoded, and an encoded detection image T-m is obtained, wherein m is the code corresponding to the detection image.
The image analysis unit 30 analyzes the detection image encoded at each detection point to obtain a mark distance S of each mark point with respect to each photographing point. The image analysis unit 30 analyzes each coded detection image by using existing visual software, and since the mark points have protrusions or depressions compared with the flat and smooth surface of the pole piece strip P, the position of each mark point in the detection image can be obtained, the distance S between the mark point and the bottom edge of the detection image is the mark distance, correspondingly, the mark distance of each mark point corresponds to the detection image, and the codes corresponding to the mark points are consistent, namely the mark distance with the codes is S-m.
The marking analysis unit 40 specifically includes:
The coordinate calculation module is used for converting relative coordinates according to the code m and the code step length h corresponding to the detection image of each detection point Calculating absolute coordinates/>, of each mark point according to the relative coordinates X, the mark distance S of each mark point and the distance L between the shooting point C and the mark point B. And the coordinate calculation module caches and puts the absolute coordinate Y of each marking point into a set to obtain an absolute coordinate set. Specifically, in this embodiment, the absolute coordinate Y of the detection point is stacked in a FIFO buffer through the Ethercat bus, and the FIFO buffer is used to implement the function of data FIFO. Since the absolute coordinates Y of the mark points are linearly related to the encoded value of the encoder 20, and the encoded value of the encoder 20 is monotonically increasing, the absolute coordinates of the mark points are monotonically increasing, so that the absolute coordinates of the mark points corresponding to the marking response are also from small to large, and the call from the absolute coordinate set is also from small to large. Based on the above, the FIFO first-in first-out buffer mode is adopted, so that the data size arrangement processing can be avoided, the operand is greatly reduced, and the response speed is improved.
The coordinate comparison module is used for acquiring codes corresponding to the current detection image at the shooting point C in real timeAnd obtaining the comparison coordinate/>, by converting the coding step lengthAnd compared with the absolute coordinate Y, when/>The marking signal is triggered. The coordinate comparison module calls an absolute coordinate set in the FIFO after obtaining the comparison coordinate Z, and triggers a marking signal to be transmitted to the laser marking device 50 when the absolute coordinate Y in the called absolute coordinate set is identical to the comparison coordinate Z.
The laser marker 50 marks the marking point B according to the marking signal. In this embodiment, the marking signal is a pulse signal, and the laser marking device 50 does not need to process information or adjust after receiving the pulse signal, so that the marking action can be completed according to the quick response of the set parameters.
The invention adopts a distance encoder 20 to encode the detection images obtained by the image collector 10 one by one according to the set pulse interval, and transmits the detection images encoded one by one to an image analysis unit 30 to analyze the marking distance of the marking point in the detection images, thereby calculating the absolute coordinates of the marking point, and comparing and substituting codes corresponding to the detection images at the shooting point C after the shooting point C is acquired in real time into a formula to output marking signals so as to realize marking when the marking point D moves to the marking point B. The marking method only involves the operation of distance in the operation process, the FIFO buffer memory ensures that the memory of the stored data is fixed in a value, the memory is not increased continuously along with the increase of codes, the operation speed is greatly improved, and the method can complete all responses within 500 mu s. In addition, when the distance L between the shooting point and the marking point is unchanged, the application of the distance encoder 20 ensures that the marking action of the device is completed without being influenced by the speed of the pipeline no matter how the transmission speed changes within the range that the speed of the pipeline does not exceed the speed required by the marking precision of the laser marking device, even if the production line is completely stopped, the encoding value of the encoder 20 is the same within the time from the shooting point to the marking point of the current detection point.
It will be appreciated by those skilled in the art that the pole piece strip P used in the embodiments of the present invention may be a to-be-marked object made of other materials, and the shape, size, continuity and other parameters may be changed.
Based on the above-mentioned on-line high-speed high-precision marking method, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps performed by the image analysis unit and the marking analysis unit described in the above-mentioned embodiments.
The present invention may take the form of a computer program product embodied on one or more storage media (including, but not limited to, magnetic disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Computer-readable storage media include both non-transitory and non-transitory, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to: phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by the computing device.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the spirit of the invention, and the invention is intended to encompass such modifications and improvements.
Claims (10)
1. An on-line high-speed high-precision marking device is characterized in that: the device comprises an image collector, an encoder, an image analysis unit, a marking analysis unit and a laser marking device;
the image collector continuously shoots and acquires detection images of corresponding detection points at shooting points;
the encoder encodes the detection images of the detection points one by one according to the set pulse interval, and transmits the detection images encoded by the belt to the image analysis unit one by one;
the image analysis unit analyzes and processes the coded detection image of each detection point to obtain the mark distance of each mark point relative to each detection point;
The marking analysis unit converts relative coordinates according to codes and coding step sizes corresponding to the detection images of each detection point, calculates absolute coordinates of each marking point according to the relative coordinates, the marking distance of each marking point and the distance between the shooting point and the marking point, simultaneously acquires codes corresponding to the current detection images at the shooting point in real time, converts the codes into comparison coordinates by using the coding step sizes, compares the comparison coordinates with the absolute coordinates, and triggers marking signals when the codes and the absolute coordinates are identical;
the laser marker marks the marking points according to the marking signals.
2. The on-line high-speed and high-precision marking device according to claim 1, wherein: the marking analysis unit comprises a coordinate calculation module for converting relative coordinates according to the code m and the code step h corresponding to the detection image of each detection pointCalculating absolute coordinates/>, of each mark point according to the relative coordinates X, the mark distance S of each mark point and the distance L between the shooting point C and the mark point B。
3. The on-line high-speed and high-precision marking device according to claim 2, wherein: the marking analysis unit also comprises a coordinate comparison module for acquiring the codes corresponding to the current detection images at the shooting point C in real timeAnd obtaining the comparison coordinate/>, by converting the coding step lengthAnd compared with the absolute coordinate Y, when/>The marking signal is triggered.
4. An on-line high-speed high-precision marking device according to claim 3, wherein: the encoder comprises a rotating wheel, a signal transmitting terminal, a signal receiving terminal and an encoding element, wherein a gap is formed in the rotating wheel, a signal transmitted by the signal transmitting terminal is received by the signal receiving terminal after passing through the gap, when the rotating wheel is driven to rotate by a production line, the rotating gap divides the signal into pulses, the encoding element is triggered to count each time the signal receiving terminal receives the pulses, encoding is formed, and the encoding step length is h.
5. An online high-speed high-precision marking method is characterized in that: comprising the following steps:
Continuously shooting to obtain detection images of corresponding detection points at shooting points;
coding detection images of detection points one by one according to set pulse intervals;
Analyzing and processing the coded detection image of each detection point to obtain the mark distance of each mark point relative to each detection point;
Calculating the absolute coordinates of each marking point according to the relative coordinates, the marking distance of each marking point and the distance between the shooting point and the marking point, and simultaneously acquiring the codes corresponding to the current detection image at the shooting point in real time, converting the codes with the coding step to obtain the comparison coordinates, comparing the comparison coordinates with the absolute coordinates, and triggering marking signals when the comparison coordinates and the absolute coordinates are identical;
marking the marking points according to the marking signals.
6. The on-line high-speed and high-precision marking method according to claim 5, wherein the method comprises the following steps: the calculating of the absolute coordinates of each detection point specifically includes:
Converting relative coordinates according to the code m and the code step length h corresponding to the detection image of each detection point Calculating absolute coordinates/>, of each mark point according to the relative coordinates X, the mark distance S of each mark point and the distance L between the shooting point C and the mark point B。
7. The on-line high-speed and high-precision marking method according to claim 6, wherein the method comprises the following steps: the comparison absolute coordinates and the comparison coordinates concretely comprise:
Acquiring codes corresponding to current detection images at shooting point C in real time And obtaining the contrast coordinates by converting the coding step lengthAnd compared with the absolute coordinate Y, when/>The marking signal is triggered.
8. A computer readable storage medium for on-line high-speed high-precision marking, characterized in that: the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of:
Continuously shooting to obtain detection images of corresponding detection points at shooting points;
coding detection images of detection points one by one according to set pulse intervals;
Analyzing and processing the coded detection image of each detection point to obtain the mark distance of each mark point relative to each detection point;
Calculating the absolute coordinates of each marking point according to the relative coordinates, the marking distance of each marking point and the distance between the shooting point and the marking point, and simultaneously acquiring the codes corresponding to the current detection image at the shooting point in real time, converting the codes with the coding step to obtain the comparison coordinates, comparing the comparison coordinates with the absolute coordinates, and triggering marking signals when the comparison coordinates and the absolute coordinates are identical;
marking the marking points according to the marking signals.
9. The on-line high-speed high-precision marking computer-readable storage medium of claim 8, wherein: the calculating of the absolute coordinates of each detection point specifically includes:
Converting relative coordinates according to the code m and the code step length h corresponding to the detection image of each detection point Calculating absolute coordinates/>, of each mark point according to the relative coordinates X, the mark distance S of each mark point and the distance L between the shooting point C and the mark point B。
10. The on-line high-speed high-precision marking computer-readable storage medium of claim 9, wherein: the comparison absolute coordinates and the comparison coordinates concretely comprise:
Acquiring codes corresponding to current detection images at shooting point C in real time And obtaining the contrast coordinates by converting the coding step lengthAnd compared with the absolute coordinate Y, when/>The marking signal is triggered.
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990069167A (en) * | 1998-02-05 | 1999-09-06 | 이종수 | Laser Marking Method |
| KR20020086339A (en) * | 2002-09-04 | 2002-11-18 | (주)하드램 | Laser marking device for high speed moving workpiece |
| KR20030028125A (en) * | 2001-09-27 | 2003-04-08 | 신용진 | A marking location auto tracking laser marking system and method |
| CN102101391A (en) * | 2009-12-21 | 2011-06-22 | 上海功源电子科技有限公司 | Laser marking method and device based on CCD (Charge Coupled Device) image navigation |
| CN110355464A (en) * | 2019-07-05 | 2019-10-22 | 上海交通大学 | Visual Matching Method, system and the medium of laser processing |
| JP2020179416A (en) * | 2019-04-26 | 2020-11-05 | 日本電産コパル株式会社 | Laser marking device |
-
2024
- 2024-03-26 CN CN202410347109.6A patent/CN117952970A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990069167A (en) * | 1998-02-05 | 1999-09-06 | 이종수 | Laser Marking Method |
| KR20030028125A (en) * | 2001-09-27 | 2003-04-08 | 신용진 | A marking location auto tracking laser marking system and method |
| KR20020086339A (en) * | 2002-09-04 | 2002-11-18 | (주)하드램 | Laser marking device for high speed moving workpiece |
| CN102101391A (en) * | 2009-12-21 | 2011-06-22 | 上海功源电子科技有限公司 | Laser marking method and device based on CCD (Charge Coupled Device) image navigation |
| JP2020179416A (en) * | 2019-04-26 | 2020-11-05 | 日本電産コパル株式会社 | Laser marking device |
| CN110355464A (en) * | 2019-07-05 | 2019-10-22 | 上海交通大学 | Visual Matching Method, system and the medium of laser processing |
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