CN103134427A - Recognizing device and method for ring parts - Google Patents
Recognizing device and method for ring parts Download PDFInfo
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- CN103134427A CN103134427A CN2013100714609A CN201310071460A CN103134427A CN 103134427 A CN103134427 A CN 103134427A CN 2013100714609 A CN2013100714609 A CN 2013100714609A CN 201310071460 A CN201310071460 A CN 201310071460A CN 103134427 A CN103134427 A CN 103134427A
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Abstract
The invention discloses a recognizing device and a method for ring parts to match different parts. The recognizing device and the method for the ring parts resolve the first level technical problem that when various parts are delivered, positions of gaps can not be confirmed. Taking pictures and a method based on image recognition are adopted to carry out recognition, the position of the gaps in the parts are confirmed. The recognizing device and the method for the ring parts are capable of replacing manpower, beneficial for achieving automation, and capable of effectively improving assembling efficiency, accurately confirming the positions of the gaps based on the method of the image recognition, and guaranteeing assembling accuracy. Consistency of shooting effects can be guaranteed by lighting, calculated amount of follow-up processing is reduced, interference factors are reduced, and accordingly recognition effects are improved.
Description
Technical field
The present invention relates to a kind of annulus Parts Recognition apparatus and method, belong to workpiece automatic vision recognition technology field.
Background technology
In automated production links such as machining, assembling, sorting and storages, the automatic fixation and recognition technology of workpiece all has important effect.The present invention lays particular emphasis on identification, and robotization recognition technology once first is described here, and it is widely used at production field.
For a person skilled in the art, the general technology knowledge that should possess automatic identification is to be understood that extracting validity feature is the key that solves automatic recognition problem, for different workpiece, should consider to extract the method for effective adjustment, to improve the effect of extracting validity feature.
Annulus is a kind of industrial parts commonly used, is widely used in the fields such as vehicle, equipment, electric, instrument.Its material can be various metals, plastics, macromolecular material etc., visual identity is also little to the requirement of material itself, only require relatively high to the optical signature of material, but in different application, the spectrum that the feature selecting of matching materials self is suitable and background can effectively address this problem, in the automatic identification of workpiece, this problem can not cause significant impact to identification.When single-piece or negligible amounts, its identification there is no practical significance, and annulus class part is all large batch of usually, thereby identification has the meaning of reality automatically.
In some applications, for the requirement of assembling, also has a gap on annulus.In the production and assembling process of this type of traditional part, it is all manually-operated.Need to manually judge or measure the position of gap on round parts.Then just can enter next step operation.In the situation that cost of labor significantly increases, produces assembly precision requirement raising and production efficiency need to improve, automated production, the positive replacing manually-operated of assembling.Therefore, a kind of automation equipment need to be arranged, can automatically identify the annulus part and accurately locate gap position.
Yet in the production assembling process, process conditions differ greatly, as the difference of dimensions.Here said dimensions comprises the part of multiple diameter and multiple height.This situation also need to be resolved in production and assembling process automatically.
In some applications, adopt the method in the described gap of localization by ultrasonic, utilize ultrasonic interfere at gap place or the feature of changes of echo obtains location to wind system, then at first this locator meams needs setting circle ring body structurc section to the part of different dimensions, and whole efficiency is relatively poor.
In some implementations, adopt the method for optical front projection shadow workpiece, configuration larger area photoinduction device on worktable, light is blocked in the workpiece entity part, and normally passes through at slotted section luminous energy, thus accurate positioning workpieces gap.Although this algorithm is fairly simple, calculated amount is also smaller, yet, lack under most operating modes at the large-area optical inducer of configuration on worktable and realize feasibility.
Summary of the invention
Thereby, the present invention is based on visual identity, a kind of recognition methods with gap annulus part that can effectively improve production efficiency of assembling and precision is proposed, on the other hand, provide a kind of recognition device of realizing the method.
According to one aspect of the present invention, a kind of annulus Parts Recognition device comprises:
Camera is positioned at directly over part positioning device;
Processor module connects described camera, takes on predetermined opportunity to drive camera, and reads the image of shooting, and process this image, identifies the position in gap on annulus and annulus;
Trigger circuit connect described processor module, trigger and produce described predetermined opportunity;
And the lighting device and the illumination control circuit that are positioned at the part positioning device top, wherein said illumination control circuit directly connects described processor module and is driven directly or drives via described camera.
According to another aspect of the present invention, a kind of annulus Parts Recognition method, it comprises the following steps:
1) adjust worktable, part annulus part be transferred rear by horizontal location, and camera is positioned at and the workpiece of locating directly over;
2) part after being positioned is taken pictures, obtain the part photo;
3) image-recognizing method based on rim detection identifies annulus and gap;
4) determine under current state the position of gap on part.
Should know, the basic parameter of part is all known, as can be seen from the above technical solutions, mate different parts when conveying is come, the technical matters of uncertain the first level in the position in gap adopts and takes pictures and identify based on the method for image recognition, determines the position of gap on part, replace manpower, be beneficial to and realize robotization, effectively improve efficiency of assembling, simultaneously, method based on image recognition can be determined the position in gap accurately, guarantees assembly precision.Illumination guarantees the consistance of shooting effect, reduces the calculated amount of subsequent treatment, and the reduce disturbance factor, and then improves recognition effect.
On the other hand, based on the general consideration that realizes, camera is used for orthogonal projection takes pictures, and processor module is used for the processing of captured photo, with a kind of relatively simple required hardware configuration of Configuration recognition methods.
Above-mentioned annulus Parts Recognition device also is provided with the circuit unit of synchronizeing with camera for described illumination control circuit.
Above-mentioned annulus Parts Recognition device, described processor module is furnished with the interface of communicating by letter with host computer.
Above-mentioned annulus Parts Recognition device, described processor module has a plurality of input terminals, is used for the connection of the external drive signal circuit of coupling operating mode.
Above-mentioned annulus Parts Recognition device also comprises the trigger circuit that are connected in described processor module, produces described predetermined opportunity for triggering.
Above-mentioned annulus Parts Recognition method is carried out light filling at least when taking pictures.
Above-mentioned annulus Parts Recognition method during initialization, is set up and to be taken at the positioning fixture center of coupling annulus Central of the parts as the coordinate system of initial point, thereby demarcate described gap with coordinate when identification.
Above-mentioned annulus Parts Recognition method, described coordinate is polar coordinate system.
Above-mentioned annulus Parts Recognition method, at first described image-recognizing method carries out filtering, then changes based on brightness and carries out binaryzation, then search the position in gap or carry out rim detection again by connected domain, searches the position in gap by the edge coordinate relation.
Description of drawings
Fig. 1 is the process flow diagram of a kind of annulus Parts Recognition method under normal bright state.
Fig. 2 is the process flow diagram of a kind of annulus Parts Recognition method under the synchronous lighting state.
Fig. 3 is the location diagram of camera and annulus part.
Fig. 4 is gap position coordinate schematic diagram.
Fig. 5 is a kind of annulus Parts Recognition unit construction principle block diagram.
Fig. 6 is a kind of annulus Parts Recognition unit construction principle block diagram.
Constitutional diagram when Fig. 7 is identified for signal annulus part, in the way, the annulus part with gray scale, is used for recognition effect and expresses, and can not affect the clear of figure.
Fig. 8 is the visual identity design sketch.
Embodiment
Annulus is a kind of industrial parts commonly used, can be used for the fields such as vehicle, equipment, electric, instrument.Its material can be various metals, plastics, macromolecular material etc.In some applications, the requirement for assembling has a gap on annulus.In automatic production line, need to accurately locate part and gap, then enter next step operation (as welding, assembling etc.).For these parts, the position coordinates in the annulus center of circle is given data.The diameter of annulus part and are highly all given datas.But the diameter of annulus and be not highly fixed value, but in certain scope, as several millimeters to tens centimetres.That is to say that each part has its oneself height and diameter.But the position in gap is unknown.
Be to be understood that, in as shown in Figure 3 camera 1 and the structure shown in annulus part 2, worktable/tool platform should optically have higher discrimination with part, those skilled in the art easily understands accordingly, in optical identification, said discrimination should be the basic configuration that reduces to identify difficulty.
And then, for the difficulty that reduces to identify, answer orthogonal projection to take to annulus, avoid captured annulus ovalization out.So under this requires, image capture device, namely the camera shown in Fig. 31 be configured in part positioning device directly over, camera lens should be coaxial with the annulus part in other words.Based on coaxial assurance, be the setting of the annulus fixture that configures on worktable, at machinery, the coaxial positioning of axle/annular workpieces positioning fixture used is belonged to parts relatively more commonly used, and this paper lays particular emphasis on identification, do not repeat them here for the location.
Positioning workpieces and image capture device are the protection conditions of recognition methods, and eccentric shooting will certainly produce because of transparent effect oval image, is unfavorable for follow-up processing.
About described camera 1, herein as previously mentioned, be used for taking the end face photo of annulus, vertical view, in order to reduce the difficulty of subsequent treatment, preferably adopt the black and white camera in other words, naturally also can adopt color camera.
Camera is controlled by external command and takes, and obtains the overhead view image of initial ring-shaped work pieces, should be appreciated that here the anchor ring of annulus part is horizontal, in other words the vertical state of axis.
In some applications, natural light can satisfy the needs of shooting, and natural light can directly use camera to take on taking the counter productive impact when little.
Natural light has instability and time difference property, and is easily disturbed by extraneous factor, and for this reason, preferably configuration is used for the equipment of light filling, and the effect of light filling should be eliminated external light source to the impact of shooting effect.
Mate corresponding image-recognizing method, the reduce disturbance factor, reduce to identify difficulty and calculated amount as much as possible, improves counting yield.
Thereby as shown in Figure 7, configuration lighting device 4, this lighting device can adopt the relatively little industrial light compensating lamp of power, in order to reduce costs, can also adopt the LED light fixture, coupling camera, the exposure light fixture that can also adopt camera to use.Light source should be monochromatic light or white light, thereby fluorescent light also can use in some applications.
Dual mode is adopted in illumination, and a kind of is normal bright state, and the control circuit to light fixture coupling camera needn't be set, and only needs power circuit to get final product, and structure is relatively simple, and cost is lower, but under same radiation parameter, energy consumption is relatively high.Under this condition, it is as relatively suitable in fluorescent lighting fixture to adopt, and its on-off times tends to be restricted, and is applicable to this application conditions.
And in other are used, when especially needing the batch identification workpiece, need to adopt the higher lighting of switch life, to reduce energy consumption, simultaneously, synchronize the mode of exposing in response to the long light source of switch life with taking a picture.
Provide and control and treatment facility, as shown in Figure 5 and Figure 6 core parts namely, processor module is planned as a whole control and the image of institute's connection device and is processed.
This processor module should comprise the processor of logical process s operation control, the random access memory of temporal data, the ROM (read-only memory) of storing boot and handling procedure, and some necessary firmwares, and the configuration interface circuit is to connect corresponding equipment, as camera.
In structure shown in Figure 5, light fixture is directly controlled by processor module, also can be not via processor module, an independent on-off circuit in structure shown in Figure 6, is similar to a camera and light fixture integrated, cut down the number of intermediate links, more be conducive to synchro control.
In some applications, be processor module configuration communication interface, be used for and external unit, especially host computer communication is communicated by letter with host computer and is convenient to partly be connected with the centralized control of automatic assembly line, is convenient to centralized control.Communication module is selected the industrial series interface of the standards such as RS232, RS485.Can receive outside processing command, as begin to take pictures, identify and location etc., also can be the information conveyance that identifies to external unit, on the equipment as next operation.
In some applications, processor module is reserved some I/O terminals, and convenient expansion is such as the access of some switch.
Configuration is connected in the trigger circuit of described processor module, shows that workpiece puts in place, can take a picture, and provides the opportunity of lighting shooting.
Trigger circuit can be received sensor on positioning tool as the I/O connecting terminals of above-mentioned reservation, as position transducer, show that workpiece puts in place, also can receive the control of host computer.Be mainly used in triggering processor and camera and begin to take pictures, identification and location.
As depicted in figs. 1 and 2, opening initialization, loading procedure, initialization port, ring-shape accessory lie on worktable or tooling platform, and its axis is conveniently located perpendicular to worktable or tooling platform.
As shown in Figure 3, camera 1 is D apart from the distance of worktable or tooling platform, and annulus part 2 is highly H, and camera 1 is h=D-H apart from the vertical range of annulus part 2 end faces.In this case, as long as know the height of annulus part 2 or the diameter of part, just can calculate other parameter.
Enter waiting status after the recognition device start, wait for the trigger pip of trigger interface or the sense command of communication interface.When trigger pip or sense command were arranged, recognition device began to take pictures, and then carried out image and processed, and identified annulus and the center of circle, and calculated the position in gap.The position in gap calculates according to the coordinate mode, can accurately position, and its form can be rectangular coordinate, can be also polar coordinates, and polar coordinates have better effect, show as the calculated amount less, and with reference to can directly marking the orientation angle parameter.
As shown in Figure 4, A1(x1, y1) and A2(x2, y2) be two end points in gap, the inward flange point that these two end points can be annulus can be also the outward flange point of annulus, all can not exert an influence to calculating.A (x, y) is the A1 in gap and the intermediate point of A2.A1, the polar coordinates of A2 and A are expressed as A1(r, θ 1), A2 (r, θ 2) and A(r, θ).Wherein, r is annular radii.As required, device can be exported the coordinate of A1 and A2, also can export the coordinate of A.Coordinate format can be rectangular coordinate, can be also polar coordinates.
Image recognition technology is relatively ripe, especially for annulus class part this-relatively simple object, common recognition methods generally can meet the demands.
The image-recognizing method based on rim detection on basis is relatively simple, and processing speed should preferably be used than very fast.
Image processing section mainly was divided into for four steps, and namely search in image smoothing, binaryzation, rim detection and gap.
At first Processing Algorithm preferably carries out image smooth is filtering, to reduce the impact of noise on subsequent treatment in image., especially in the content of signature, deliberately strengthened under the condition of contrast.Binaryzation so is relatively just than being easier to.Filtering generally adopts the window data of NxN to utilize gaussian filtering, medium filtering, intermediate value filtering, the method that also can adopt isolated point to eliminate.
Binaryzation is that the image slices vegetarian refreshments is divided into black and white two kinds of colors.Its method is mainly that passing threshold judges.Can adopt global threshold or local threshold in practical application.
Image after binaryzation can directly adopt the method for connected domain judgement to find out the position in gap, also can carry out rim detection, then detects the position in gap.Rim detection can adopt the methods such as single order differential, Kirsch operator edge detection.
Then search in the image after rim detection and the position in definite gap.Can judge according to the coordinate relation of marginal point the position in gap.
Above method belongs to conventional image processing method, no longer does detailed description here.
In order to improve recognition effect, image is carried out binaryzation, its effect can clearly define the profile of annulus part as shown in Figure 8.
Lighting system can be divided into normal bright formula and synchronous mode.So-called normal bright formula before being exactly after start, preparing to detect, is opened illumination, even take pictures or detect completely, illumination is not closed yet, and illumination remains opens.So-called synchronous mode, be exactly only when taking pictures or the imageing sensor of camera when integration (perhaps sensitization), illumination is just opened, and throws light on At All Other Times and all closes.This mode can be saved electric energy, and can extend the life-span of lighting module.
Embodiment more specifically: enter waiting status after the pick-up unit start, wait for the trigger pip of trigger interface or the sense command of communication interface.When trigger pip or sense command were arranged, pick-up unit began to take pictures, and then carried out image and processed, and identified annulus and the center of circle, and calculated the position in gap 5.The position in gap 5 calculates according to the coordinate mode, and its form can be rectangular coordinate, can be also polar coordinates.As shown in the figure, A1(x1, y1) and A2(x2, y2) be two end points in gap, A (x, y) is the A1 in gap and the intermediate point of A2.A1, the polar coordinates of A2 and A are expressed as A1(r, θ 1), A2 (r, θ 2) and A(r, θ).Wherein, r is annular radii.As required, device can be exported the coordinate of A1 and A2, also can export the coordinate of A.Coordinate format can be rectangular coordinate, can be also polar coordinates.
Above-mentioned image processing algorithm comprises that mainly filtering, binaryzation, rim detection, gap the conventional algorithm such as search.
Claims (10)
1. an annulus Parts Recognition device, is characterized in that, comprising:
Camera is positioned at directly over part positioning device;
Processor module connects described camera, takes on predetermined opportunity to drive camera, and reads the image of shooting, and process this image, identifies the position in gap on annulus and annulus;
And the lighting device and the illumination control circuit that are positioned at the part positioning device top, wherein said illumination control circuit directly connects described processor module and is driven directly or drives via described camera.
2. annulus Parts Recognition device according to claim 1, is characterized in that, also is provided with the circuit unit of synchronizeing with camera for described illumination control circuit.
3. annulus Parts Recognition device according to claim 1 and 2, is characterized in that, described processor module is furnished with the interface of communicating by letter with host computer.
4. annulus Parts Recognition device according to claim 3, is characterized in that, described processor module has a plurality of input terminals, is used for the connection of the external drive signal circuit of coupling operating mode.
5. annulus Parts Recognition device according to claim 1, is characterized in that, also comprises the trigger circuit that are connected in described processor module, produces described predetermined opportunity for triggering.
6. an annulus Parts Recognition method, is characterized in that, it comprises the following steps:
1) adjust worktable, part annulus part be transferred rear by horizontal location, and camera is positioned at and the workpiece of locating directly over;
2) part after being positioned is taken pictures, obtain the part photo;
3) image-recognizing method based on rim detection identifies annulus and gap;
4) determine under current state the position of gap on part.
7. annulus Parts Recognition method according to claim 6, is characterized in that, carries out at least light filling when taking pictures.
8. according to claim 6 or 7 described annulus Parts Recognition methods, is characterized in that, during initialization, sets up and to take at the positioning fixture center of coupling annulus Central of the parts as the coordinate system of initial point, thereby demarcate described gap with coordinate when identification.
9. annulus Parts Recognition method according to claim 8, is characterized in that, described coordinate is polar coordinate system.
10. annulus Parts Recognition method according to claim 6, it is characterized in that, at first described image-recognizing method carries out filtering, then change based on brightness and carry out binaryzation, search the position in gap or carry out again rim detection by connected domain again, searching the position in gap by the edge coordinate relation.
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Cited By (2)
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| CN112355710A (en) * | 2020-10-20 | 2021-02-12 | 苏州浩智工业控制技术有限公司 | CCD-based CNC workpiece machining method and system |
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