CN103722449B - Machine Tool Machining Positioning Method and Device - Google Patents

Abstract

The invention relates to a machine tool machining positioning method and a device thereof, which mainly installs an image acquisition unit on a CNC machine tool, utilizes the image acquisition unit to shoot a standard workpiece and a workpiece to be machined to respectively generate a standard image and a workpiece image, inputs a characteristic contour on the standard image, corresponds the characteristic contour to an appearance contour on the workpiece image, and calculates the actual coordinate of a center point after the correspondence. Then, the difference value of the actual coordinates of the center point of the standard image and the workpiece image is calculated, and the originally known distance between the two workpieces is added, so that the processing coordinate data of the workpiece to be processed can be accurately obtained. In other words, the present invention only needs to perform the steps of photographing and processing operation, and does not need mechanical movement measurement, so as to quickly and accurately position a plurality of workpieces to be processed.

Description

Machine Tool Machining Positioning Method and Device

technical field

The present invention relates to a machine tool machining positioning method and its device, especially a method suitable for positioning the machining position of a workpiece on a computer numerical control (CNC) machine tool, and a device for executing the method.

Background technique

As far as the current technical field of machine tools is concerned, the positioning of the machining position of the workpiece has always been maintained in the traditional way, that is, the probe is used to measure the surroundings of the workpiece to find the center or specific feature points of the workpiece.

In detail, for a general rectangular workpiece, in order to find the processing point in its center, the probe must be used to measure the surrounding side walls and the top wall of the workpiece, that is, to measure the workpiece on the X-axis, Y-axis, and Z axis respectively. After calculating the length and distance occupied by the axis, calculate the center point of the workpiece through calculation. In such a measurement method, for the simplest rectangular workpiece, five measurements must be performed. However, once the workpiece to be processed has a complex or irregular shape, or the angle of the workpiece is changed, more measurements must be performed, which is time-consuming and labor-intensive.

and. For each workpiece to be processed, it must be re-measured and positioned, which is very unfavorable for mass production. Furthermore, for the positioning of small workpieces, the method of probe measurement will become very difficult, or even impossible to implement. In addition, in the way of measuring with a probe, it is easy for the probe to collide with the workpiece due to poor operation by the user, resulting in damage to the workpiece or the probe. In addition, the method of measuring with a probe is very dependent on the experience and technology of the operator, and unskilled operators are likely to consume more time and easily cause measurement errors.

Contents of the invention

The main purpose of the present invention is to provide a tool machining positioning method and its device, so as to automatically measure the center coordinates of each workpiece, and then quickly automatically locate the processing position of each workpiece, which can greatly reduce the number of conventional workpieces. The positioning time is reduced, and the positioning accuracy can be significantly improved.

In order to achieve the above object, the present invention provides a positioning method for tool machining, which is used to locate the processing positions of multiple workpieces, the multiple workpieces have an appearance profile, and the multiple workpieces include a standard workpiece and at least one workpiece to be processed, The method includes the following steps: firstly, photographing a standard workpiece to obtain a standard image, and inputting a characteristic contour on the standard image, the characteristic contour is at least partially corresponding to the appearance contours of a plurality of workpieces, and the distance between the standard workpiece and at least one workpiece to be processed is There is a work distance. Furthermore, the actual coordinates of the center point of the standard image are calculated. Next, at least one workpiece to be processed is photographed to obtain a workpiece image, and the actual coordinates of the center point of the workpiece image are calculated after the feature contour is aligned with the appearance contour on the workpiece image. Finally, calculate the difference between the actual coordinates of the center point of the workpiece image and the standard image, and add the distance between the workpieces to obtain the processing coordinate data of at least one workpiece to be processed.

Accordingly, the present invention uses the input feature contour on the standard image to correspond to the appearance contour on the workpiece image, and calculates the actual coordinates of the center point of the corresponding workpiece image. Then, calculate the difference between the actual coordinates of the center point of the standard image and the workpiece image, and add the previously known distance between the two workpieces, so that the processing coordinate data of the workpiece to be processed can be accurately obtained. In other words, the present invention only needs to perform photographing and processing steps, without mechanical movement measurement, and can quickly and accurately locate multiple workpieces to be processed.

Wherein, in the automatic positioning method provided by the present invention, in the step of calculating the actual coordinates of the center point of the standard image, the pixel coordinate value of the center point of the standard image can be calculated first, and then converted into the actual coordinates of the center point. Similarly, in the step of calculating the actual coordinates of the center point of the workpiece image, the pixel coordinate value of the center point of the workpiece image can be calculated first, and then converted into the actual coordinates of the center point. Accordingly, the present invention can use the pixels in the image as coordinate values, and thereby convert them into coordinate values of the actual processing size.

However, the above-mentioned conversion of the pixel values in the image into the actual processing size can be performed through a size conversion ratio value. Regarding the size conversion ratio value, the present invention provides the following steps to obtain: first, photographing the standard workpiece to obtain a first workpiece image; then, after moving the standard workpiece for a certain distance, photographing the standard workpiece to obtain a second workpiece image; finally, Calculate the ratio of the difference between the pixel coordinates of the center point of the first workpiece image and the second workpiece image to a specific distance. Wherein, the specific distance moved by the workpiece is preferably the moving distance in two axial directions. In other words, the method provided by the present invention uses the ratio between the actual displacement of the workpiece and the displacement of the pixel coordinates in the image to obtain the above-mentioned size conversion ratio.

Furthermore, in the automatic positioning method provided by the present invention, the calculation of the actual coordinates of the center point of the standard image may include the following steps: first, segment the standard image into multiple interest domains, and each interest domain on the standard image includes a characteristic contour ; Next, calculate the pixel coordinates of the geometric center of each domain of interest; finally, calculate the center point between the pixel coordinates of the geometric center of the multiple domains of interest, which is the pixel coordinate value of the center point of the standard image. Accordingly, the above-mentioned method can accurately and quickly calculate the pixel coordinate value of the center point of the input feature contour.

Continuing from the above, in the automatic positioning method provided by the present invention, the workpiece image may include complex comparison areas, and the complex comparison areas correspond to complex domains of interest, and the calculation of the actual coordinates of the center point of the workpiece image may include the following steps: first , using the feature contours on the multiple regions of interest of the standard image to compare the appearance contours on the multiple comparison areas of the workpiece image; then, calculate the pixel coordinates of the geometric center of each comparison area; finally, calculate the The center point between the pixel coordinates of the geometric center is the pixel coordinate value of the center point.

In other words, the present invention can divide the input feature contour into multiple partial feature contours, and use them to compare the corresponding appearance contours on the workpiece image, and only calculate when all the partial feature contours are compared. center coordinates. Accordingly, the present invention can be applied to the positioning of workpieces of different sizes but with the same appearance profile, that is, no matter whether the size of the workpiece is enlarged or reduced, as long as the feature contours match, the comparison can be performed. Therefore, the applicable size range of the present invention is large, and excellent accuracy can be obtained by comparing multiple characteristic parts.

In addition, in the automatic positioning method provided by the present invention, the center point of the standard workpiece can be positioned at a shooting center point in the initial step. Moreover, in the step of calculating the actual coordinates of the center point of the standard image, it may include calculating the difference between the actual coordinates of the center point of the standard image and the coordinates of the shooting center point as an input offset value. Furthermore, in the step of calculating the processing coordinate data of the workpiece to be processed, in addition to adding the workpiece distance to the difference between the actual coordinates of the center point of the workpiece image and the standard image, the aforementioned input offset value is added.

However, the main purpose of the above steps is that because the feature profile of the present invention can be input manually, it is difficult for the operator to accurately and completely describe the input during manual input, so error values may be generated. In view of this, the present invention particularly considers the input offset value between the feature contour and the center origin, and includes it in the calculation of the processing coordinate data of the workpiece to be processed. In addition to improving the positioning accuracy, the user can input There is no need to worry about accurate drawing of the feature outline, which can greatly save the time spent on drawing.

In addition, under normal circumstances, the center point of the shooting will not be located on the machining center point. In view of this point, the present invention provides the following method, which defines the distance between the shooting center point and the machining center point as a center distance. Wherein, in the step of calculating the processing coordinate data of the workpiece to be processed, in addition to adding the difference between the actual coordinates of the center point of the workpiece image and the standard image to the workpiece distance and the input offset value, the center distance is added.

In order to achieve the purpose of the present invention, the present invention also provides a positioning device for tool machining, which can be used to locate the processing positions of multiple workpieces, and the multiple workpieces have an appearance profile, and the multiple workpieces include a standard workpiece and at least one waiting There is a workpiece distance between the standard workpiece and at least one workpiece to be processed, and the device mainly includes: an image capture unit, an input device, and a controller. Wherein, the image capture unit is arranged on a spindle head of the machine tool, and the image capture unit is used to capture a standard workpiece to obtain a standard image, and capture at least one workpiece to be processed to obtain a workpiece image. Furthermore, the input device is used for inputting a feature profile on the standard image, and the feature profile at least partially corresponds to the appearance profile of the plurality of workpieces. In addition, the controller is electrically connected to the image capture unit and the input device. Among them, the controller first calculates the actual coordinates of the center point of the standard image; when the image capture unit corresponds to the appearance contour on the workpiece image according to the feature contour, the controller calculates the actual coordinates of the center point of the workpiece image; and, the controller calculates The difference between the standard image and the actual coordinates of the center point of the workpiece image is added to the distance between workpieces to obtain processing coordinate data of at least one workpiece to be processed.

Preferably, the controller of the machining positioning device of the present invention can be a computer numerical controller. That is to say, when the present invention is applied to a computer numerical control machine tool (hereinafter referred to as a CNC machine tool), only the above-mentioned image capture unit needs to be installed, and no other additional equipment is needed. Therefore, the present invention can be based on the existing CNC machine tool without greatly increasing the equipment construction cost. Moreover, the image capture unit can be easily and quickly installed on the CNC machine tool. Accordingly, the automatic processing position positioning device provided by the present invention has low equipment cost, simple installation, and can quickly and accurately position multiple workpieces without mechanical movement measurement.

Moreover, the image capture unit of a tool machining positioning device of the present invention may include a microprocessor and a camera lens, and the microprocessor is electrically connected to the camera lens; in addition, the controller may include a main processor , and a storage module, the main processor is electrically connected to the storage module, and the storage module stores a size conversion ratio value, and the size conversion ratio value is the ratio between the pixel size captured by the image capture unit and the actual processing size . Among them, the microprocessor of the image capture unit calculates the pixel coordinates of the center point of the standard image and the workpiece image respectively, and the main processor converts the pixel coordinates of the standard image and the center point of the workpiece image according to the size conversion ratio value stored in the storage module. The value is converted to the actual coordinates of the center point. Accordingly, the present invention can convert the pixel value in the image into the actual processing size, and can calculate the actual processing size accurately and quickly.

In addition, the image capture unit of the machine tool positioning device of the present invention has pre-positioned the standard workpiece at the exact center of the camera lens when shooting the standard image of the standard workpiece. After the user inputs the feature outline on the standard image through the input device, the controller calculates an input offset value between the actual coordinates of the center point of the feature outline and the center position of the camera lens. Accordingly, the processing coordinate data of at least one workpiece to be processed includes the difference between the actual coordinates of the center point of the workpiece image and the standard image, plus the working distance, and the input offset value. Accordingly, by adding the calculation of the input offset value, in addition to improving the positioning accuracy, the user does not need to worry about accurately drawing when inputting the feature contour, which can greatly save the time spent on drawing.

Moreover, there is a center distance between the center position of the camera lens of the tool machining positioning device of the present invention and the machining center point of the spindle head of the machine tool, and the machining coordinate data of at least one workpiece to be processed includes the workpiece image and the standard image The difference between the actual coordinates of the center points plus the workpiece distance, input offset value, and center distance. Accordingly, the present invention fully considers the distance between the camera lens and the machining center point, further improving the positioning accuracy.

In addition, the microprocessor of the image capture unit of the tool machining positioning device of the present invention can control the rotation of the feature contour to correspond to the appearance contour of at least one workpiece to be processed. In other words, the present invention can rotate the feature contour in real time through the processing of the microprocessor of the image capture unit when the placement position and angle of the workpiece to be processed are different, so that it can smoothly correspond to the appearance contour of at least one workpiece to be processed. Therefore, the present invention is applicable to any irregularly arranged workpieces to be processed.

Description of drawings

The present invention will be described in further detail below in conjunction with accompanying drawing and with reference to specific embodiment, wherein:

Fig. 1 is a schematic diagram of a preferred embodiment of the present invention.

Fig. 2 is a system architecture diagram of a preferred embodiment of the present invention.

Fig. 3 is a flow chart of calculating the size conversion ratio value in a preferred embodiment of the present invention.

Fig. 4 is a flowchart of a preferred embodiment of the present invention.

FIG. 5A is a flow chart of calculating the pixel coordinate value of the center point of a standard image in a preferred embodiment of the present invention.

FIG. 5B is a flow chart of calculating the pixel coordinate value of the center point of the workpiece image in a preferred embodiment of the present invention.

Fig. 6 is a schematic diagram of a standard image and a feature profile Pf of a preferred embodiment of the present invention.

Fig. 7A to Fig. 7E are positioning coordinate diagrams of workpieces with five different installation positions or angles in a preferred embodiment of the present invention.

1CNC machine tool

11 spindle head

2 image capture unit

21 microprocessors

22 camera lens

3 controllers

31 main processor

32 storage modules

4 input device

Cd center distance

Cv size conversion scale value

D work distance

Os appearance profile

Pf feature profile

Ps standard image

Psc, Pwc center point pixel coordinate value

Pw workpiece image

ROI_2~ROI_5 domain of interest

RM_2~RM_5 comparison area

w workpiece

Ws standard workpiece

Wt workpiece to be processed

detailed description

Please refer to FIG. 1 and FIG. 2 at the same time. FIG. 1 is a schematic diagram of a preferred embodiment of the present invention, and FIG. 2 is a system architecture diagram of a preferred embodiment of the present invention. The following embodiments will use the CNC machine tool 1 as the execution subject, wherein only an image capture unit 2 needs to be installed, no other additional equipment is required, and no additional modification is required to the CNC machine tool 1, and all calculations and processing only need It can be done through the microprocessor 21 in the image capture unit 2 and the controller 3 of the CNC machine tool 1 itself.

As shown in the figure, this embodiment mainly includes an image capture unit 2 , an input device 4 , and a controller 3 , and the controller 3 is electrically connected to the image capture unit 2 and the input device 4 . In this embodiment, the image capture unit 2 includes a microprocessor 21 and a camera lens 22, the microprocessor 21 is electrically connected to the camera lens 22, and the image capture unit 2 is arranged on the main shaft of the machine tool 1 There is a center distance Cd between the center position of the camera lens 22 and the machining center point of the spindle head 11 of the machine tool 1 . However, the focal length of the image capture unit 2 of this embodiment and the height set on the spindle head 11 are fixed, and the image capture unit 2 can be a general camera device. The only limitation is that it must be compatible with the CNC machine tool 1. The controller 3 communicates and can be controlled by it.

As for, the controller 3 is a computer numerical controller of the CNC machine tool 1 itself, which includes a main processor 31 and a storage module 32 , and the main processor 31 is electrically connected to the storage module 32 . The storage module 32 stores the above-mentioned center distance Cd and a size conversion ratio value Cv. And the input device 4 can also be the input device that the CNC machine tool 1 itself carries or additionally installed, such as a mouse, a trackball, a drawing tablet, or a touch screen. Of course, the present embodiment takes the touch screen as the means of implementation. .

The present invention is mainly used for positioning the machining positions of a plurality of workpieces w, as shown in FIG. 1 , this embodiment describes the positioning of workpieces w at six different positions or angles. As shown in the figure, the six workpieces w have the same appearance profile Os (see FIG. 7 ), wherein the first one is a standard workpiece Ws, and the others are workpieces Wt to be processed. Moreover, there is a workpiece distance D between the standard workpiece Ws and each workpiece Wt to be processed. Of course, the workpiece distance D can be the distance between two workpieces w, or the distance between each workpiece Wt to be processed and the standard workpiece Ws.

Please refer to FIG. 3 . FIG. 3 is a flow chart of calculating the size conversion ratio in a preferred embodiment of the present invention. Before the actual positioning of the workpiece w, the size conversion ratio Cv is calculated first, and the size conversion ratio Cv is the ratio between the pixel size captured by the image capture unit 2 and the actual processing size. First, the standard workpiece Ws is photographed to obtain a first workpiece image, ie step S100 . Next, after moving the standard workpiece Ws for a certain distance, the standard workpiece Ws is photographed to obtain a second workpiece image, ie step S105 . Wherein, the specific distance moved by the standard workpiece Ws is the moving distance of the two axes, that is, the movement of the X axis and the Y axis are included at the same time. Finally, calculate the ratio between the difference between the pixel coordinates of the center point of the first workpiece image and the second workpiece image and the specific distance, that is, step S110, according to which the size conversion ratio Cv can be obtained and stored in the controller 3 in the storage module 3. Wherein, the so-called pixel coordinate value of the center point refers to the pixel (Pixel) of the image as the unit of the coordinate value.

In other words, the method provided in this embodiment uses the ratio between the actual displacement of the workpiece and the pixel displacement in the captured image to obtain the above-mentioned size conversion ratio Cv. Of course, the present invention is not limited thereto, and the size conversion ratio value Cv can also be obtained by using a traditional calibration card. The method of the traditional calibration card is described as follows. First, put a fixed-size calibration card on the workbench. After shooting the calibration card, calculate the ratio between the pixels occupied by the calibration card on the captured image and the actual size of the calibration card. .

Please refer to FIG. 4, which is a flowchart of a preferred embodiment of the present invention. Firstly, the center point of the standard workpiece Ws is positioned at a shooting center point, as shown in step S200. Next, the image capturing unit 2 shoots the standard workpiece Ws to obtain a standard image Ps, and inputs a feature profile Pf on the standard image Ps, and the feature profile Pf is drawn along with the appearance profile of the standard workpiece Ws. Wherein, since the standard workpiece Ws and the workpiece Wt have the same appearance profile Os, the input feature profile Pf should at least partially correspond to the appearance profile Os of the plurality of workpieces w, as shown in step S205.

Furthermore, the actual coordinates of the center point of the standard image Ps are calculated, and the difference between the actual coordinates of the center point of the feature profile Pf and the coordinates of the shooting center point is calculated as an input offset value, as shown in step S210. Among them, the so-called actual coordinates of the center point refer to the actual processing size (such as mm or μtm) as the unit of the coordinate value. Please refer to Fig. 5A and Fig. 6 at the same time, Fig. 5A is a calculation flow chart of the center point pixel coordinate value of a standard image of a preferred embodiment of the present invention, Fig. 6 is a standard image and feature contour Pf of a preferred embodiment of the present invention The schematic diagram.

The actual coordinates used to calculate the center point of the standard image Ps in this embodiment include the following steps: First, segment the standard image Ps into four regions of interest (Region of Interest) ROI_2~5, and each ROI_2~5 on the standard image Ps 5 includes a part of the characteristic contour Pf, step S300 shown in Figure 5A; then, calculate the geometric center pixel coordinates Pc2~5 of each ROI_2~5 respectively, that is, step S305 shown in Figure 5A; and then, Calculate the center point between the geometric center pixel coordinates Pc2~5 of the complex regions of interest ROI_2~5, which is the center point pixel coordinate value Psc of the standard image Ps. This step is step S310 shown in FIG. 5A. Finally, the main processor 31 of the controller 3 converts the pixel coordinate value Psc of the center point of the standard image Ps into the actual coordinate of the center point according to the size conversion ratio value Cv stored in the storage module 3 .

In addition, the input offset value between the actual coordinates of the center point of the feature profile Pf and the coordinates of the shooting center point is mainly because the feature profile Pf in this embodiment is manually drawn and input, and it is difficult for the operator to accurately and completely Since the input is drawn, error values may occur. In view of this, after the actual coordinates of the center point of the feature profile Pf are calculated in this embodiment, especially the difference between the actual coordinates of the center point of the feature profile Pf and the coordinates of the shooting center point is calculated as the input offset value.

In other words, this embodiment particularly considers the displacement offset between the feature profile Pf and the actual center origin, and includes it into the calculation of the processing coordinate data of the workpiece Wt to be processed. Accordingly, in addition to improving the accuracy of positioning, the operator does not need to worry about accurately drawing when inputting the feature contour Pf, which can greatly save the time spent on drawing.

Next, in step S215 shown in FIG. 4 , a workpiece Wt to be processed is photographed to obtain a workpiece image Pw. And, after aligning the appearance contour Os on the workpiece image Pw with the feature contour Pf, calculate the actual coordinates of the center point of the workpiece image Pw, ie step S220. In this embodiment, the following steps are actually carried out. First, the feature profile Pf of the standard image Ps is used to compare the workpiece image Pw. Since the standard image Ps has been divided into four regions of interest ROI_2~5, the four regions of interest ROI_2 are used. The feature profile Pf on ~5 is compared with the workpiece image Pw respectively.

On the other hand, for the appearance contour Os on the workpiece image Pw to correspond to the feature contour Pf on the region of interest ROI_2~5, four comparison regions RM_2~5 are automatically formed, which is step S400 shown in FIG. 5B. Next, calculate the geometric center pixel coordinates of each comparison area RM_2~5 respectively, ie step S405. And, calculate the center point among the geometric center pixel coordinates of the four comparison regions RM_2~5, which is also the center point pixel coordinate value Pwc of the workpiece image Pw, which is step S410 shown in FIG. 5B. Finally, the main processor 31 of the controller 3 converts the pixel coordinate value Pwc of the center point of the workpiece image Pw into the actual coordinate of the center point according to the size conversion ratio value Cv stored in the storage module 3 .

In other words, in this embodiment, the input feature profile Pf is divided into multiple parts according to multiple regions of interest ROI_2~5, and each part of the feature profile Pf is used to compare the corresponding parts on the workpiece image Pw one by one. The appearance profile Os of the feature profile Pf is not calculated until all parts of the feature profile Pf have been compared. Accordingly, this embodiment can be applied to the positioning of workpieces of different sizes but having the same appearance profile Os, that is, no matter whether the size of the workpiece is enlarged or reduced, as long as the feature profile Pf is consistent, the comparison can be performed. Therefore, the applicable size range of this embodiment is large, and excellent accuracy can be obtained by means of multi-part comparison.

It is worth mentioning that, in this embodiment, when the microprocessor 21 of the image capture unit 2 controls the characteristic contour Pf of each part to compare the corresponding appearance contour Os on the workpiece image Pw one by one, the microprocessor 21 The device 21 will control the rotation of the feature profile Pf to completely correspond to the appearance profile Os of the workpiece Wt to be processed. In other words, when the workpiece Wt has different angles, through the processing of the microprocessor 21 of the image capture unit 2, the feature profile Pf can be rotated in real time so that it can smoothly correspond to the appearance profile Os of the workpiece Wt. Therefore, this embodiment is applicable to any irregularly arranged workpieces Wt to be processed.

Finally, as shown in step S225 of FIG. 4, calculate the difference between the actual coordinates of the center point of the workpiece image Pw and the standard image Ps, and add the workpiece distance D, the input offset value, and the center distance Cd to it. Obtain the processing coordinate data of one of the workpieces Wt to be processed. As for the subsequent positioning of the processing position of the workpiece Wt to be processed, it is enough to repeat step S215 , step S220 , and step S225 in FIG. 4 one by one.

However, in this embodiment, in all the above-mentioned calculation processes, except that the photographing of the image, comparison, and calculation of the pixel coordinate value of the center point are processed by the microprocessor 21 in the image capture unit 2, other calculations All can be performed by the controller 3 of the CNC machine tool 1 itself. Moreover, according to actual statistics, it takes less than 1 second before and after the positioning of each workpiece Wt to be processed, which is fast and accurate, and is very conducive to mass production of workpieces of the same specification.

Please refer to FIG. 7A to FIG. 7E . FIG. 7A to FIG. 7E are positioning coordinate diagrams of workpieces with five different installation positions or angles in a preferred embodiment of the present invention. In detail, the positioning of the workpiece without translation and rotation, the positioning of the workpiece without translation but rotated 5 degrees counterclockwise, the positioning of the workpiece without translation but rotated 5 degrees clockwise will be described below with reference to FIG. 7A to FIG. And the positioning of the workpiece with translation and 5 degrees counterclockwise rotation.

As shown in Figure 7A, the pixel coordinates of the geometric center of each comparison area RM_2~5 are shown in the figure as (-201.9, 160.0), (-201.7, -155.0), (201.1, 160.9), (201.2,- 155.2), so the pixel coordinates of the above four geometric centers are obtained again, which is the pixel coordinate value Pwc of the center point of the workpiece Wt corresponding to Fig. 7A, and the calculation result in this example is (0.55, 2.675). In addition, using the inverse trigonometric function theorem (arctan), the rotation angle can be found to be 0.128 degrees. Accordingly, it is obvious that the translation and rotation angles of this example are quite small.

As shown in Figure 7B, the pixel coordinates of the geometric center of each comparison area RM_2~5 are shown in the figure as (-232.6, 128.3), (-232.3, -186.5), (170.6, 129.4), (170.2,- 187.5), so the pixel coordinates of the above four geometric centers are calculated again, which is the pixel coordinate value Pwc of the center point of the workpiece Wt corresponding to Fig. 7B, and the calculation result in this example is (-31.025, -29.075). In addition, using the inverse trigonometric function theorem (arctan), the rotation angle can be found to be 0.156. Accordingly, in this example, there are obvious translations on the X-axis and Y-axis, but the rotation angle is quite small.

As shown in Figure 7C, the pixel coordinates of the geometric center of each comparison area RM_2~5 are shown in the figure as (-214.3, 141.0), (-187.0, -170.8), (187.7, 176.7), (214.4,- 137.5), so the pixel coordinates of the above four geometric centers are obtained again, which is the pixel coordinate value Pwc of the center point of the workpiece Wt corresponding to Fig. 7C, and the calculation result in this example is (0.2, 1.85). In addition, using the inverse trigonometric function theorem (arctan), the rotation angle can be found to be 5.075 degrees. Accordingly, this example has a significant counterclockwise rotation, but a fairly slight translation.

As shown in Figure 7D, the pixel coordinates of the geometric center of each comparison area RM_2~5 are shown in the figure as (-186.5, 175.9), (-214.2, -139.1), (215.9, 141.3), (186.6,- 173.7), so the pixel coordinates of the above four geometric centers are calculated again, which is the pixel coordinate value Pwc of the center point of the workpiece Wt corresponding to Fig. 7D, and the calculation result in this example is (0.45, 1.1). In addition, using the inverse trigonometric function theorem (arctan), the rotation angle can be found to be -4.9144 degrees. Accordingly, this example has a significant clockwise rotation, but a fairly slight translation.

As shown in Figure 7E, the pixel coordinates of the geometric center of each comparison area RM_2~5 are shown in the figure as (-246.1, 140.7), (-217.6, -173.9), (157.1, 176.7), (183.2,- 137.0), so the pixel coordinates of the above four geometric centers are calculated again, which is the pixel coordinate value Pwc of the center point of the workpiece Wt corresponding to Fig. 7E, and the calculation result in this example is (-30.85, 1.625). In addition, using the inverse trigonometric function theorem (arctan), the rotation angle can be found to be 5.1022 degrees. Accordingly, this example has an obvious translation on the X axis, but also an obvious counterclockwise rotation.

The above-mentioned embodiments are only examples for convenience of description, and the scope of rights claimed by the present invention should be based on the scope of the patent application, rather than limited to the above-mentioned embodiments.

Claims (15)

1. A tool machining positioning method, which is used to locate the processing position of a plurality of workpieces, each of which has an appearance profile, the plurality of workpieces includes a standard workpiece and at least one workpiece to be processed, the method includes The following steps: (A) photograph the standard workpiece to obtain a standard image, and input a feature profile on the standard image, the feature profile is at least partially corresponding to the appearance profile of the plurality of workpieces, the standard workpiece and the at least one to-be-processed There is a work distance between the parts; (B) Calculate the actual coordinates of the center point of the standard image; (C) photographing the at least one workpiece to be processed to obtain a workpiece image; (D) After aligning the feature contour with the appearance contour on the workpiece image, calculate the actual coordinates of the center point of the workpiece image; and (E) Calculating the difference between the actual coordinates of the center point of the workpiece image and the standard image, and adding it to the workpiece distance to obtain processing coordinate data of the at least one workpiece to be processed. 2. The tool machining positioning method according to claim 1, wherein, after the step (B) calculates the pixel coordinate value of the center point of the standard image, it is converted into the actual coordinate of the center point; the step (D ) is to calculate the pixel coordinate value of the center point of the workpiece image, and then convert it into the actual coordinate of the center point. 3. The tool machining positioning method according to claim 2, wherein, the step (B) and the step (D) convert the pixel coordinate value of the center point into the actual value of the center point by a size conversion ratio value Coordinates; the size conversion scale value is obtained through the following steps: (S1) Shooting the standard workpiece to obtain a first workpiece image; (S2) After moving the standard workpiece for a specific distance, photographing the standard workpiece to obtain a second workpiece image; and (S3) Calculate a ratio between the difference between the pixel coordinates of the center point of the first workpiece image and the second workpiece image and the specific distance. 4. The machining positioning method according to claim 3, wherein the specific distance in the step (S2) includes two axial moving distances. 5. The tool machining positioning method according to claim 2, wherein calculating the pixel coordinate value of the center point of the standard image in the step (B) comprises the following steps: (B1) dividing the standard image into multiple domains of interest, each domain of interest on the standard image includes the feature contour; (B2) Calculate the pixel coordinates of the geometric center of each domain of interest separately; and (B3) Calculate the center point between the pixel coordinates of the geometric center on the complex domain of interest. 6. The tool machining positioning method according to claim 5, wherein the workpiece image includes a plurality of comparison areas, and the plurality of comparison areas respectively correspond to the plurality of domains of interest, and the workpiece image is calculated in the step (D) The pixel coordinate value of the center point includes the following steps: (D1) Comparing the feature contours on the multiple regions of interest of the standard image with the appearance contours on the multiple comparison areas of the workpiece image; (D2) Calculate the geometric center pixel coordinates of each comparison area; and (D3) Calculate the center point between the pixel coordinates of the geometric center on the complex comparison area. 7. The machine tool processing positioning method according to claim 1, wherein, further comprising a step before the step (A): (a1) Locate the center point of the standard workpiece at a shooting center point. 8. The tool machining positioning method according to claim 7, wherein, in the step (B), the difference between the actual coordinates of the center point of the standard image and the coordinates of the shooting center point is an input offset value ; The step (E) is to calculate the difference between the actual coordinates of the center point of the workpiece image and the standard image, add the distance between the workpieces and the input offset value, and obtain the at least one workpiece to be processed Processing coordinate data. 9. The machine tool processing positioning method according to claim 8, wherein there is a center distance between the shooting center point and a machining center point of the machine tool; the step (E) is to calculate the workpiece image and the standard image Add the difference between the actual coordinates of the center points of the workpieces to the workpiece distance, the input offset value, and the center distance to obtain the processing coordinate data of the at least one workpiece to be processed. 10. A tool machining positioning device, which is used to locate the processing position of a plurality of workpieces, the plurality of workpieces have an appearance profile, the plurality of workpieces include a standard workpiece, and at least one workpiece to be processed, the standard workpiece and There is a workpiece distance between the at least one workpiece to be processed, and the device includes: An image capture unit is arranged on a spindle head of the machine tool, the image capture unit is used to photograph the standard workpiece to obtain a standard image, and is used to photograph the at least one workpiece to be processed to obtain a workpiece image; an input device for inputting a feature profile on the standard image, the feature profile at least partially corresponding to the appearance profile of the plurality of workpieces; and a controller electrically connected to the image capture unit and the input device; Wherein, the controller calculates the actual coordinates of the center point of the standard image; when the image capture unit corresponds to the appearance contour on the workpiece image according to the feature contour, the controller calculates the actual coordinates of the center point of the workpiece image. Coordinates; the controller calculates the difference between the standard image and the actual coordinates of the center point of the workpiece image, and adds the distance between the workpieces to obtain a processing coordinate data of the at least one workpiece to be processed. 11. The tool machining positioning device according to claim 10, wherein the image capture unit includes a microprocessor and a camera lens, and the microprocessor is electrically connected to the camera lens; The controller includes a main processor and a storage module, the main processor is electrically connected to the storage module, the storage module stores a size conversion ratio value, and the size conversion ratio value is captured by the image capture unit The ratio between the pixel size and the actual processing size; The microprocessor of the image capture unit calculates the standard image and the pixel coordinate value of the center point of the workpiece image respectively, and the main processor converts the standard image, and the workpiece image according to the size conversion ratio value stored in the storage module. The pixel coordinates of the center point of the workpiece image are converted into the actual coordinates of the center point. 12. The tool machining positioning device according to claim 11, wherein the standard workpiece has been pre-positioned at the exact center of the camera lens when the image capture unit captures the standard image of the standard workpiece; the user After the feature profile is input on the standard image by the input device, the controller calculates an input offset value between the actual coordinates of the center point of the feature profile and the center position of the camera lens; the at least one workpiece to be processed The processing coordinate data is obtained by adding the distance between the workpiece and the input offset value to the difference between the actual coordinates of the center point of the workpiece image and the standard image. 13. The tool machining positioning device according to claim 12, wherein there is a center distance between the center position of the camera lens and the machining center point of the spindle head of the machine tool, and the machining of the at least one workpiece to be processed The coordinate data is the difference between the actual coordinates of the center point of the workpiece image and the standard image plus the workpiece distance, the input offset value, and the center distance. 14 . The tool machining positioning device according to claim 11 , wherein the microprocessor of the image capture unit controls the rotation of the feature contour to correspond to the appearance contour of the at least one workpiece to be processed. 15 . 15. The tool machining positioning device according to claim 10, wherein the controller is a computer numerical controller.