CN103722449B - Toolroom machine processing positioning method and device thereof - Google Patents
Toolroom machine processing positioning method and device thereof Download PDFInfo
- Publication number
- CN103722449B CN103722449B CN201210392978.8A CN201210392978A CN103722449B CN 103722449 B CN103722449 B CN 103722449B CN 201210392978 A CN201210392978 A CN 201210392978A CN 103722449 B CN103722449 B CN 103722449B
- Authority
- CN
- China
- Prior art keywords
- workpiece
- central point
- image
- standard
- standard video
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
- B23Q17/2233—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the tool relative to the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2409—Arrangements for indirect observation of the working space using image recording means, e.g. a camera
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Image Analysis (AREA)
Abstract
Present invention is directed to a kind of toolroom machine processing positioning method and device thereof, it mainly lies in and installs image acquisition unit additional on CNC toolroom machine, and utilize image acquisition unit shooting standard workpiece and workpiece to be added to produce standard video and workpiece image respectively, and on standard video input feature vector profile, and carry out the appearance profile on corresponding workpiece image with feature contour, and calculate the central point actual coordinate after correspondence.Then, then calculate the difference of the central point actual coordinate of standard video and workpiece image, and plus the two workpiece spacing known originally, can accurately learn the machining coordinate data of workpiece to be added.In other words, the present invention only needs to carry out shooting and processing calculation step, need not mechanical mobile survey, just can position multiple workpiece to be added quickly, accurately.
Description
Technical field
Present disclosure generally relates to a kind of toolroom machine processing positioning method and device thereof, espespecially a kind of computer numerical that is applicable to controls (ComputerNumericalControl, CNC) method on toolroom machine, the Working position of workpiece positioned, and perform the device of the method.
Background technology
With the technical field of current toolroom machine, the location for the Working position of workpiece maintains traditional approach all the time, namely with probe, the surrounding of workpiece is measured, in the hope of going out the heart or special characteristic point among workpiece.
In detail, with general square type workpiece, it is intended to obtain the processing stand at its center, it is necessary to the surrounding sidewall of measuring workpiece of popping one's head in and roof, that is after the length distance that measuring workpiece is shared by X-axis, Y-axis and Z axis, then ask for the central point of its workpiece through computing.Such measurement mode, with simplest square type workpiece, is necessary for carrying out five times and measures.But, once the workpiece being intended to processing is complicated or irregular shape, or the angle that workpiece is put changes, then be necessary for measuring more frequently, relatively time consuming takes a lot of work.
And.Each workpiece being intended to be processed must again be measured, be positioned, be highly detrimental to a large amount of production.Furthermore, for the location of small workpiece, the difficulty very that the mode that probe measures can become, even cannot perform.It addition, in the way of measurement of popping one's head in, it is easy to because user operates not very, and make probe collision workpiece, cause that workpiece or probe are damaged.Additionally, be dependent on very much experience and the technology of operator in the way of measurement of popping one's head in, unskilled operator easily expends the more time, and easily produces error in measurement.
Summary of the invention
The main purpose of the present invention ties up to a kind of toolroom machine processing positioning method of offer and device thereof, so that automatically measure the centre coordinate of each workpiece, and then rapidly each workpiece is processed being automatically positioned of position, known workpiece location spent time can be greatly reduced, and the precision of location can be significantly increased.
For reaching above-mentioned purpose, one toolroom machine processing positioning method of the present invention, it is for the Working position of plural number workpiece is positioned, plural number workpiece has an appearance profile, and plural number workpiece includes a standard workpiece and at least one workpiece to be added, method comprises the following steps: first, shooting standard workpiece is to obtain a standard video, and on standard video, input a feature contour, feature contour system is at least partially correspond to the appearance profile of plural number workpiece, has a workpiece spacing between standard workpiece and at least one workpiece to be added.Furthermore, calculate the central point actual coordinate of standard video.Then, at least one workpiece to be added is shot to obtain a workpiece image, again, after the appearance profile on feature contour alignment pieces image, to calculate the central point actual coordinate of workpiece image.Finally, calculate the difference between the central point actual coordinate of workpiece image and standard video, and by it plus workpiece spacing, and obtain one of at least one workpiece to be added machining coordinate data.
Accordingly, system of the present invention utilizes the feature contour that inputted on standard video to carry out the appearance profile on corresponding workpiece image, and calculates the central point actual coordinate of workpiece image after correspondence.Then, then calculate the difference of the central point actual coordinate of standard video and workpiece image, and plus the two workpiece spacing known originally, can accurately learn the machining coordinate data of workpiece to be added.In other words, the present invention only needs to carry out shooting and processing calculation step, need not mechanical mobile survey, just can position multiple workpiece to be added quickly, accurately.
Wherein, in automatic positioning method provided by the present invention, about in the step of central point actual coordinate calculating standard video, after can first calculating the central point pixel coordinate value of standard video, then convert it to central point actual coordinate.Similarly, in calculating the step of central point actual coordinate of workpiece image, after can first calculating the central point pixel coordinate value of workpiece image, then central point actual coordinate is converted it to.Accordingly, the pixel in the available image of system of the present invention is as coordinate figure, and thereby converts the coordinate figure of actual processing dimension to.
But, above-mentioned convert the pixel value in image to actual processing dimension, it is possible to carry out through a size conversion ratio value.About size conversion ratio value, the present invention provides following steps to obtain: first, shoots standard workpiece and obtains one first workpiece image；Then, after mobile standard workpiece one specific range, shoot standard workpiece and obtain a second workpiece image；Finally, the difference between the central point pixel coordinate value of the first workpiece image and second workpiece image and the ratio between specific range are calculated.Wherein, the specific range that workpiece is moved is preferably two axial displacements.In other words, method system provided by the present invention utilizes the ratio between the displacement of the pixel coordinate in the actual displacement amount of workpiece and image, can obtain above-mentioned size conversion ratio value.
Furthermore, in automatic positioning method provided by the present invention, may comprise steps of about the central point actual coordinate calculating standard video: first, segmentation standard image is plural number interest domain, and each interest domain on standard video includes feature contour；Then, the geometric center pixel coordinate of each interest domain is calculated respectively；Finally, the central point between geometric center pixel coordinate on calculated complex interest domain, it is the central point pixel coordinate value of standard video.Accordingly, the above-mentioned method carried can precisely and rapidly calculate the central point pixel coordinate value of the feature contour inputted.
Hold, in automatic positioning method provided by the present invention, workpiece image can include plural number comparison area, and fauna is corresponded to plural number interest domain by complex ratio, and may comprise steps of about the central point actual coordinate calculating workpiece image: first, with the appearance profile on the plural number comparison area of the comparison workpiece image respectively of the feature contour on the plural number interest domain of standard video；Then, the geometric center pixel coordinate of each comparison area is calculated respectively；Finally, the central point between geometric center pixel coordinate on calculated complex comparison area, it is central point pixel coordinate value.
In other words, the present invention can pass through the feature contour that the feature contour inputted is divided into multiple local, and removes appearance profile corresponding on comparison workpiece image respectively with it, when all Partial Feature profile comparisons complete, just calculates centre coordinate.Accordingly, the present invention can be suitable for different size but the location of the workpiece of tool identical appearance profile, that is whether workpiece size zooms in or out, and can compare as long as feature contour meets.Therefore, present invention size range applicatory is big, and can obtain excellent precision by the alignments of multiple features part.
It addition, in automatic positioning method provided by the present invention, the central point of localization criteria workpiece central point can be shot in one in the most initial step.And, in calculating the step of central point actual coordinate of standard video, it may include the difference calculated between the central point actual coordinate of standard video and the coordinate of shooting central point is an Input Offset Value.Again and, in time calculating the step of machining coordinate data of workpiece to be added, except by the difference between the central point actual coordinate of workpiece image and standard video plus except workpiece spacing, add aforementioned Input Offset Value.
But, being mainly intended that of above-mentioned steps, because the feature contour of the present invention can by artificially inputting, and when artificially inputting, operator is difficult to precisely, intactly describe input, therefore likely can produce error.In view of this, the present invention considers the Input Offset Value between feature contour and center origin especially, counted in the calculating of machining coordinate data of workpiece to be added, accordingly except the precision that can improve location, user need not take a lot of trouble ground when input feature vector profile and precisely describe, and can significantly save description spent time.
Additionally, in normal circumstances, the central point of shooting will not be positioned on machining center point.Given this point, spy of the present invention provides following method, and the spacing between the central point of shooting and machining center point is defined as a center distance.Wherein, during about the step of the machining coordinate data of calculating workpiece to be added, except by the difference between the central point actual coordinate of workpiece image and standard video plus workpiece spacing and Input Offset Value, center distance is added.
For reaching the purpose of the present invention, the present invention provides again a kind of toolroom machine processing and positioning device, it can be used for the Working position of plural number workpiece is positioned, and plural number workpiece has an appearance profile, plural number workpiece includes a standard workpiece and at least one workpiece to be added, there is between standard workpiece and at least one workpiece to be added a workpiece spacing, and this device specifically includes that an image acquisition unit, an input equipment and a controller.Wherein, image acquisition unit system is arranged on one of toolroom machine main tapping, and image acquisition unit system is used for shooting standard workpiece to obtain a standard video, and shoots at least one workpiece to be added to obtain a workpiece image.Furthermore, input equipment system is used on standard video to input a feature contour, and feature contour system is at least partially correspond to the appearance profile of plural number workpiece.It addition, controller is electrically connected image acquisition unit and input equipment.Wherein, controller system first calculates the central point actual coordinate of standard video；After image acquisition unit corresponds to the appearance profile on workpiece image according to feature contour, controller system calculates the central point actual coordinate of workpiece image；Further, controller calculates the difference between the central point actual coordinate of standard video and workpiece image, by it plus workpiece spacing, and obtains one of at least one workpiece to be added machining coordinate data.
It is preferred that the controller of one toolroom machine processing and positioning device of the present invention can be a computer numerical controller.It is to say, when the present invention applies to Computerized numerical control machine tool (hereinafter referred to as CNC toolroom machine), as long as installing aforementioned image acquisition unit additional, without other extras.Therefore, the present invention can based on existing CNC toolroom machine, and the equipment that can't be greatly improved builds cost.And, image acquisition unit can easily, quickly be installed on CNC toolroom machine.Accordingly, Working position automatic positioning equipment provided by the present invention, equipment cost is cheap, it is simple to arrange, again need not mechanical mobile survey, just can position multiple workpiece quickly, accurately.
Again and, the image acquisition unit of one toolroom machine processing and positioning device of the present invention can include a microprocessor and a pick-up lens, and microprocessor system is electrically connected pick-up lens；Additionally, controller can include a primary processor and a storage module, primary processor system is electrically connected storage module, and storage module stores a size conversion ratio value, and the ratio value that size conversion ratio value system is image acquisition unit between captured Pixel Dimensions and actual processing dimension.Wherein, the microprocessor of image acquisition unit calculates the central point pixel coordinate value of standard video and workpiece image respectively, and primary processor size conversion ratio value stored by storage module converts the central point pixel coordinate value of standard video and workpiece image to central point actual coordinate.Accordingly, the pixel value in the available image of system of the present invention converts actual processing dimension to, and can precisely and rapidly calculate actual processing dimension.
Again, standard workpiece is positioned the center position of pick-up lens by the image acquisition unit of one toolroom machine processing and positioning device of the present invention in advance when shooting the standard video of standard workpiece.User is by input equipment on standard video after input feature vector profile, and controller one of calculates between the central point actual coordinate of feature contour and the center of pick-up lens Input Offset Value.Accordingly, these machining coordinate data of at least one workpiece to be added include difference between the central point actual coordinate of workpiece image and standard video plus break from and Input Offset Value.Accordingly, after adding calculating Input Offset Value, except the precision that can improve location, user need not take a lot of trouble ground when input feature vector profile and precisely describe, and can significantly save description spent time.
More and, there is between the machining center point of the center of the pick-up lens of a kind of toolroom machine processing and positioning device of the present invention and the main tapping of toolroom machine a center distance, and the machining coordinate data of at least one workpiece to be added include the difference between the central point actual coordinate of workpiece image and standard video plus workpiece spacing, Input Offset Value and center distance.Accordingly, the present invention has taken into full account the spacing between pick-up lens and machining center point, more improves the precision of location.
Rotate additionally, the microprocessor of the image acquisition unit of the present invention a kind of toolroom machine processing and positioning device can control feature contour with corresponding to seeing profile outside at least one workpiece to be added.In other words, the present invention loads position and angle to machined part not for the moment in face, through the process of the microprocessor of image acquisition unit, and can real time rotation feature contour so that it is outside corresponding at least one workpiece to be added smoothly, see profile.Therefore, present invention can be suitably applied to the workpiece to be added of any irregular setting.
Accompanying drawing explanation
Also with reference to specific embodiment, the present invention is described in further detail below with reference to accompanying drawing, wherein:
The schematic diagram of Fig. 1 system a preferred embodiment of the present invention.
The system architecture diagram of Fig. 2 system a preferred embodiment of the present invention.
The flow chart of Fig. 3 system a preferred embodiment of the present invention driven dimension conversion proportion value.
The flow chart of Fig. 4 system a preferred embodiment of the present invention.
The calculation flow chart of the central point pixel coordinate value of Fig. 5 A system a preferred embodiment of the present invention standard video.
The calculation flow chart of the central point pixel coordinate value of Fig. 5 B system a preferred embodiment of the present invention workpiece image.
The standard video of Fig. 6 system a preferred embodiment of the present invention and the schematic diagram of feature contour Pf.
Five kinds of differences are arranged the elements of a fix figure of the workpiece of position or angle by Fig. 7 A to Fig. 7 E system a preferred embodiment of the present invention.
1CNC toolroom machine
11 main tappings
2 image acquisition units
21 microprocessors
22 pick-up lenss
3 controllers
31 primary processors
32 storage modules
4 input equipment
Cd center distance
Cv size conversion ratio value
D workpiece spacing
Os appearance profile
Pf feature contour
Ps standard video
Psc, Pwc central point pixel coordinate value
Pw workpiece image
ROI_2 ~ ROI_5 interest domain
RM_2 ~ RM_5 comparison area
W workpiece
Ws standard workpiece
Wt workpiece to be added
Detailed description of the invention
Please refer to the schematic diagram of Fig. 1 and Fig. 2, Fig. 1 system a preferred embodiment of the present invention, the system architecture diagram of Fig. 2 system a preferred embodiment of the present invention.Following example will with CNC toolroom machine 1 for executive agent, wherein only need to install an image acquisition unit 2 additional, without other extras, also CNC toolroom machine 1 need not be carried out extra repacking, and all of computing and process only need to pass through a controller 3 for the microprocessor 21 in image acquisition unit 2 and CNC toolroom machine 1 itself.
As shown in FIG., the present embodiment mainly includes image acquisition unit 2, input equipment 4 and a controller 3, and controller 3 is then electrically connected image acquisition unit 2 and input equipment 4.In the present embodiment, image acquisition unit 2 includes microprocessor 21 and a pick-up lens 22, microprocessor 21 is be electrically connected pick-up lens 22, and image acquisition unit 2 is disposed on the main tapping 11 (spindlehead) of toolroom machine 1, and between the machining center point of the main tapping 11 of the center of pick-up lens 22 and toolroom machine 1, there is a center distance Cd.But, the focal length of the image acquisition unit 2 of the present embodiment and the height being arranged at main tapping 11 are fixing, and image acquisition unit 2 can be general camera head, its sole limitation must carry out communication with the controller 3 of CNC toolroom machine 1 and can be controlled exactly.
As for, controller 3 is the computer numerical controller that CNC toolroom machine 1 carries itself, and it includes primary processor 31 and a storage module 32, and primary processor 31 is be electrically connected storage module 32.An above-mentioned center distance Cd and size conversion ratio value Cv is stored in storage module 32.And the input equipment that input equipment 4 also itself carries or additionally installs additional for CNC toolroom machine 1 all can, as mouse, trace ball, drawing board or Touch Screen all can, certain the present embodiment is with Touch Screen for implementing means.
The present invention is mainly that as shown in fig. 1, the location of the workpiece w that six kinds of differences arrange position or angle is illustrated by the present embodiment system for the Working position of plural number workpiece w is positioned.As shown in FIG., these six workpiece w have identical appearance profile Os (asking for an interview Fig. 7), and wherein first is standard workpiece Ws, and other is workpiece Wt to be added.And, between standard workpiece Ws and each workpiece Wt to be added, there is a workpiece space D, this workpiece space D can be spacing between workpiece w between two certainly, or the spacing between each workpiece Wt to be added and standard workpiece Ws.
Refer to the flow chart of Fig. 3, Fig. 3 system a preferred embodiment of the present invention driven dimension conversion proportion value.Before workpiece w is positioned by reality, first ask for size conversion ratio value Cv, and the ratio value that size conversion ratio value Cv system is image acquisition unit 2 between captured Pixel Dimensions and actual processing dimension.First, shoot standard workpiece Ws and obtain one first workpiece image, i.e. step S100.Then, after mobile standard workpiece Ws mono-specific range, shoot standard workpiece Ws and obtain a second workpiece image, i.e. step S105.Wherein, the specific range that standard workpiece Ws is moved is two axial displacements, namely includes the movement of X-axis and Y-axis simultaneously.Finally, calculate the difference between the central point pixel coordinate value of the first workpiece image and second workpiece image and ratio, i.e. step S110 between specific range, size conversion ratio value Cv can be obtained accordingly, and it is stored in the storage module 3 of controller 3.Wherein, so-called central point pixel coordinate value is refer to the unit being coordinate figure with the pixel (Pixel) of image.
In other words, the method system that the present embodiment is provided utilizes the ratio between the pixel displacement amount in the actual displacement amount of workpiece and captured image, can obtain above-mentioned size conversion ratio value Cv.Certainly, the present invention, also not to be limited, also can adopt the mode of conventional correction card to obtain this size conversion ratio value Cv.The mode of conventional correction card illustrate as after, the correction first putting a fixed dimension is stuck on workbench, after shooting this correction card, asks for the ratio between the actual size of pixel that on captured image, correction card is shared and correction card.
Refer to the flow chart of Fig. 4, Fig. 4 system a preferred embodiment of the present invention.First, first the location of the core of standard workpiece Ws is shot central point in one, as shown in step S200.Then, image acquisition unit 2 shoots standard workpiece Ws to obtain a standard video Ps, and inputs a feature contour Pf on standard video Ps, and this feature contour Pf is as the appearance profile of standard workpiece Ws and depicts.Wherein, because having identical appearance profile Os between standard workpiece Ws and workpiece Wt to be added, therefore the feature contour Pf inputted at least partially should can correspond to the appearance profile Os of plural number workpiece w, as shown in step S205.
Furthermore, calculate the central point actual coordinate of standard video Ps, and the difference calculated between the central point actual coordinate of feature contour Pf and the coordinate of shooting central point be an Input Offset Value, as shown in step S210.Wherein, so-called central point actual coordinate is refer to the unit using actual processing dimension (such as mm or μ tm) as coordinate figure.Please refer to the calculation flow chart of the central point pixel coordinate value of Fig. 5 A and Fig. 6, Fig. 5 A system a preferred embodiment of the present invention standard video, the standard video of Fig. 6 system a preferred embodiment of the present invention and the schematic diagram of feature contour Pf.
The central point actual coordinate being used for calculating standard video Ps in the present embodiment comprises the following steps: first, segmentation standard image Ps is four interest domain (RegionofInterest) ROI_2 ~ 5, and each interest domain ROI_2 ~ 5 on standard video Ps all include feature contour Pf local, step S300 as shown in Figure 5A；Then, geometric center pixel coordinate Pc2 ~ 5 of each interest domain ROI_2 ~ 5, i.e. Fig. 5 A shownschematically step S305 are calculated respectively；Coming, the central point between geometric center pixel coordinate Pc2 ~ 5 on calculated complex interest domain ROI_2 ~ 5, this is the central point pixel coordinate value Psc of standard video Ps again, this step i.e. step S310 as shown in Figure 5A.Finally, the central point pixel coordinate value Psc of standard video Ps is converted to central point actual coordinate according to the size conversion ratio value Cv that storage module 3 is stored by the primary processor 31 of controller 3.
Additionally, about the Input Offset Value between the central point actual coordinate of feature contour Pf and the coordinate of shooting central point, it is primarily due to the feature contour Pf system of the present embodiment by artificially describing input, and operator is difficult to precisely and intactly describe input, therefore likely can produce error.In view of this, the present embodiment is after the central point actual coordinate calculating feature contour Pf, and the difference between the coordinate of the central point actual coordinate and shooting central point that calculate feature contour Pf, is Input Offset Value especially.
In other words, the present embodiment considers the displacement bias value between feature contour Pf and practical center initial point especially, is counted in the calculating of machining coordinate data of workpiece Wt to be added.Accordingly, except can improving the precision of location, operator, when input feature vector profile Pf, need not take a lot of trouble ground and precisely describe, can significantly save description spent time.
Then, step S215 as shown in Figure 4, one workpiece Wt to be added is to obtain a workpiece image Pw in shooting.Further, after the appearance profile Os on feature contour Pf alignment pieces image Pw, the central point actual coordinate of workpiece image Pw, i.e. step S220 are calculated.Actual in the present embodiment carry out following steps, first with the feature contour Pf comparison workpiece image Pw of standard video Ps, because standard video Ps having divided on four interest domain ROI_2 ~ 5, therefore just with the comparison workpiece image Pw respectively of the feature contour Pf on four interest domain ROI_2 ~ 5.
On the other hand, the appearance profile Os on workpiece image Pw, in order to correspond to the feature contour Pf on interest domain ROI_2 ~ 5, also will automatically form RM_2 ~ 5, four comparison area, and this is Fig. 5 B shownschematically step S400.Then, the geometric center pixel coordinate of RM_2 ~ 5, each comparison area, i.e. step S405 are calculated respectively.Further, the central point between the geometric center pixel coordinate on RM_2 ~ 5, four comparison area is calculated, the central point pixel coordinate value Pwc, i.e. Fig. 5 B shownschematically step S410 of this that is workpiece image Pw.Finally, the central point pixel coordinate value Pwc of workpiece image Pw is converted to central point actual coordinate according to the size conversion ratio value Cv that storage module 3 is stored by the primary processor 31 of controller 3.
In other words, the present embodiment system is through according to multiple interest domain ROI_2 ~ 5, the feature contour Pf inputted is divided into multiple part, and remove appearance profile Os corresponding on comparison workpiece image Pw one by one by each part of feature contour Pf respectively, when all comparison completes all parts of feature contour Pf, just calculate centre coordinate.Accordingly, the present embodiment can be suitable for different size but the location of the workpiece of tool identical appearance profile Os, that is whether workpiece size zooms in or out, and can compare as long as feature contour Pf meets.Therefore, the present embodiment size range applicatory is big, and can obtain excellent precision by the mode of multi-section proportion by subtraction pair.
It is worth mentioning that, in the present embodiment, when the microprocessor 21 of image acquisition unit 2 controls to remove appearance profile Os corresponding on comparison workpiece image Pw one by one with the feature contour Pf of each part respectively, controlling feature profile Pf is rotated the appearance profile Os to be completely corresponding to workpiece Wt to be added by microprocessor 21.In other words, in face to machined part the angle of Wt not for the moment, through the process of the microprocessor 21 of image acquisition unit 2, can real time rotation feature contour Pf so that it is correspond to the appearance profile Os of workpiece Wt to be added smoothly.Therefore, the present embodiment is applicable to the workpiece Wt to be added of any irregular setting.
Finally, as shown in the step S225 of Fig. 4, calculate the difference between the central point actual coordinate of workpiece image Pw and standard video Ps, and by it plus workpiece space D, Input Offset Value and center distance Cd, just can obtain one of workpiece Wt to be added machining coordinate data.As for, the location of the Working position of follow-up workpiece Wt to be added, namely repeat the step S215 of Fig. 4, step S220 and step S225 one by one.
But, in the present embodiment, in aforementioned all of calculation process, except the shooting of image, comparison and to ask for central point pixel coordinate value be except the microprocessor 21 in image acquisition unit 2 processes, other computing is undertaken by the controller 3 of CNC toolroom machine 1 itself.And, the cost time less than 1 second before and after actual count, the location of each workpiece Wt to be added, fast and accurately, it is appreciated that in the scale of mass production of same specification workpiece.
Refer to the elements of a fix figure that five kinds of differences are arranged the workpiece of position or angle by Fig. 7 A to Fig. 7 E, Fig. 7 A to Fig. 7 E system a preferred embodiment of the present invention.In detail, below by being described separately the location without translation and workpiece without spin with Fig. 7 A to Fig. 7 E, without translation but rotate counterclockwise the workpiece of 5 degree location, without translation but the location of workpiece of 5 degree and have translation and have again the location of the workpiece of rotation 5 degree counterclockwise of turning clockwise.
As shown in Figure 7 A, figure has had shown that the geometric center pixel coordinate of RM_2～5, each comparison area respectively (-201.9,160.0), (-201.7,-155.0), (201.1,160.9), (201.2 ,-155.2), therefore ask for aforementioned four geometric center pixel coordinate again, being the central point pixel coordinate value Pwc of workpiece Wt to be added corresponding for Fig. 7 A, the result of calculation in this example is (0.55,2.675).It addition, utilizing antitrigonometric function theorem (arctan) can obtain the anglec of rotation is 0.128 degree.Accordingly, the translation of this very aobvious example and the anglec of rotation are all quite a little.
As shown in Figure 7 B, figure has had shown that the geometric center pixel coordinate of RM_2 ~ 5, each comparison area respectively (-232.6,128.3), (-232.3,-186.5), (170.6,129.4), (170.2 ,-187.5), therefore ask for aforementioned four geometric center pixel coordinate again, being the central point pixel coordinate value Pwc of workpiece Wt to be added corresponding for Fig. 7 B, the result of calculation in this example is (-31.025 ,-29.075).It addition, utilizing antitrigonometric function theorem (arctan) can obtain the anglec of rotation is 0.156.Accordingly, this example has very aobvious translation in X-axis and Y-axis, but the anglec of rotation is quite a little.
As seen in figure 7 c, figure has had shown that the geometric center pixel coordinate of RM_2 ~ 5, each comparison area respectively (-214.3,141.0), (-187.0,-170.8), (187.7,176.7), (214.4 ,-137.5), therefore ask for aforementioned four geometric center pixel coordinate again, being the central point pixel coordinate value Pwc of workpiece Wt to be added corresponding for Fig. 7 C, the result of calculation in this example is (0.2,1.85).It addition, utilizing antitrigonometric function theorem (arctan) can obtain the anglec of rotation is 5.075 degree.Accordingly, this example has very aobvious rotation counterclockwise, but translation is quite a little.
As illustrated in fig. 7d, figure has had shown that the geometric center pixel coordinate of RM_2 ~ 5, each comparison area respectively (-186.5,175.9), (-214.2,-139.1), (215.9,141.3), (186.6 ,-173.7), therefore ask for aforementioned four geometric center pixel coordinate again, being the central point pixel coordinate value Pwc of workpiece Wt to be added corresponding for Fig. 7 D, the result of calculation in this example is (0.45,1.1).It addition, utilize antitrigonometric function theorem (arctan) anglec of rotation can be obtained for-4.9144 degree.Accordingly, this example has very aobvious turning clockwise, but translation is quite a little.
As seen in figure 7e, figure has had shown that the geometric center pixel coordinate of RM_2 ~ 5, each comparison area respectively (-246.1,140.7), (-217.6,-173.9), (157.1,176.7), (183.2 ,-137.0), therefore ask for aforementioned four geometric center pixel coordinate again, being the central point pixel coordinate value Pwc of workpiece Wt to be added corresponding for Fig. 7 E, the result of calculation in this example is (-30.85,1.625).It addition, utilizing antitrigonometric function theorem (arctan) can obtain the anglec of rotation is 5.1022 degree.Accordingly, this example has obvious translation in X-axis, and has and significantly rotate counterclockwise.
Above-described embodiment is only illustrate for convenient explanation, and the interest field that the present invention is advocated is from should being as the criterion with described in claim, but not is only limitted to above-described embodiment.
Claims (15)
1. a toolroom machine processing positioning method, it is that this plural number workpiece respectively has an appearance profile, and this plural number workpiece includes a standard workpiece and at least one workpiece to be added, and the method comprises the following steps for the Working position of plural number workpiece is positioned:
(A) this standard workpiece is shot to obtain a standard video, and on this standard video, input a feature contour, this feature contour system is at least partially correspond to this appearance profile of this plural number workpiece, has a workpiece spacing between this standard workpiece and this at least one workpiece to be added；
(B) the central point actual coordinate of this standard video is calculated；
(C) this at least one workpiece to be added is shot to obtain a workpiece image；
(D), after being directed at this appearance profile on this workpiece image with this feature contour, the central point actual coordinate of this workpiece image is calculated；And
(E) difference between the central point actual coordinate of this workpiece image and this standard video is calculated, and by it plus this workpiece spacing, and obtain one of this at least one workpiece to be added machining coordinate data.
2. toolroom machine processing positioning method according to claim 1, wherein, this step (B) is after the central point pixel coordinate value of this standard video of calculating, then converts it to this central point actual coordinate；This step (D) is after the central point pixel coordinate value of this workpiece image of calculating, then converts it to this central point actual coordinate.
3. toolroom machine processing positioning method according to claim 2, wherein, this step (B) and this step (D) are, by a size conversion ratio value, this central point pixel coordinate value is converted to this central point actual coordinate；This size conversion ratio value system obtains through following steps:
(S1) shoot this standard workpiece and obtain one first workpiece image；
(S2), after moving this standard workpiece one specific range, shoot this standard workpiece and obtain a second workpiece image；And
(S3) difference between the central point pixel coordinate value of this first workpiece image and this second workpiece image and the ratio between this specific range are calculated.
4. toolroom machine processing positioning method according to claim 3, wherein, this specific range system of this step (S2) includes two axial displacements.
5. toolroom machine processing positioning method according to claim 2, wherein, the central point pixel coordinate value calculating this standard video in this step (B) comprises the following steps:
(B1) splitting this standard video for plural number interest domain, each interest domain on this standard video includes this feature contour；
(B2) the geometric center pixel coordinate of each interest domain is calculated respectively；And
(B3) central point between this geometric center pixel coordinate on this plural number interest domain is calculated.
6. toolroom machine processing positioning method according to claim 5, wherein, this workpiece image includes plural number comparison area, and fauna is corresponded respectively to this plural number interest domain by this complex ratio, and the central point pixel coordinate value calculating this workpiece image in this step (D) comprises the following steps:
(D1) with this appearance profile on the plural number comparison area of this workpiece image of comparison respectively of this feature contour on this plural number interest domain of this standard video；
(D2) the geometric center pixel coordinate of each comparison area is calculated respectively；And
(D3) central point between this geometric center pixel coordinate on this plural number comparison area is calculated.
7. toolroom machine processing positioning method according to claim 1, wherein, more includes a step before this step (A):
(a1) central point positioning this standard workpiece shoots central point in one.
8. toolroom machine processing positioning method according to claim 7, wherein, the difference calculated between this central point actual coordinate of this standard video and the coordinate of this shooting central point in this step (B) is an Input Offset Value；This step (E) is the difference between the central point actual coordinate of this workpiece image of calculating and this standard video, by it plus this workpiece spacing and this Input Offset Value, and obtains these machining coordinate data of this at least one workpiece to be added.
9. toolroom machine processing positioning method according to claim 8, wherein, has a center distance between one of this shooting central point and this toolroom machine machining center point；This step (E) is the difference between the central point actual coordinate of this workpiece image of calculating and this standard video, by it plus this workpiece spacing, this Input Offset Value and this center distance, and obtains these machining coordinate data of this at least one workpiece to be added.
10. a toolroom machine processing and positioning device, it is for the Working position of plural number workpiece is positioned, this plural number workpiece has an appearance profile, this plural number workpiece includes a standard workpiece and at least one workpiece to be added, having a workpiece spacing between this standard workpiece and this at least one workpiece to be added, this device includes:
One image acquisition unit, it is be arranged on one of this toolroom machine main tapping, and this image acquisition unit system is in order to shoot this standard workpiece to obtain a standard video, and in order to shoot this at least one workpiece to be added to obtain a workpiece image；
One input equipment, it is be used on this standard video input a feature contour, and this feature contour system is at least partially correspond to this appearance profile of this plural number workpiece；And
One controller, it is electrically connected this image acquisition unit and this input equipment；
Wherein, this controller system calculates the central point actual coordinate of this standard video；After this image acquisition unit corresponds to this appearance profile on this workpiece image according to this feature contour, this controller system calculates the central point actual coordinate of this workpiece image；This controller calculates the difference between the central point actual coordinate of this standard video and workpiece image, by it plus this workpiece spacing, and obtains one of this at least one workpiece to be added machining coordinate data.
11. toolroom machine processing and positioning device according to claim 10, wherein, this image acquisition unit includes a microprocessor and a pick-up lens, and this microprocessor system is electrically connected this pick-up lens；
This controller includes a primary processor and a storage module, this primary processor system is electrically connected this storage module, this storage module stores a size conversion ratio value, and this size conversion ratio value system is the ratio value between the captured Pixel Dimensions of this image acquisition unit and actual processing dimension；
This microprocessor of this image acquisition unit calculates the central point pixel coordinate value of this standard video and this workpiece image respectively, and this primary processor this size conversion ratio value stored by this storage module converts the central point pixel coordinate value of this standard video and this workpiece image to this central point actual coordinate.
12. the toolroom machine processing and positioning device according to claim 11, wherein, in advance this standard workpiece is positioned when this image acquisition unit shoots this standard video of this standard workpiece the center position of this pick-up lens；After this user inputs this feature contour by this input equipment on this standard video, this controller one of calculates between the central point actual coordinate of this feature contour and the center of this pick-up lens Input Offset Value；This machining coordinate data system of this at least one workpiece to be added by the difference between the central point actual coordinate of this workpiece image and this standard video plus this workpiece spacing and this Input Offset Value.
13. the toolroom machine processing and positioning device according to claim 12, wherein, between the machining center point of this main tapping of the center of this pick-up lens and this toolroom machine, there is a center distance, this machining coordinate data system of this at least one workpiece to be added by the difference between the central point actual coordinate of this workpiece image and this standard video plus this workpiece spacing, this Input Offset Value and this center distance.
14. the toolroom machine processing and positioning device according to claim 11, wherein, this microprocessor of this image acquisition unit controls this feature contour and rotates with this appearance profile corresponding to this at least one workpiece to be added.
15. toolroom machine processing and positioning device according to claim 10, wherein, this controller means a computer numerical controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210392978.8A CN103722449B (en) | 2012-10-16 | 2012-10-16 | Toolroom machine processing positioning method and device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210392978.8A CN103722449B (en) | 2012-10-16 | 2012-10-16 | Toolroom machine processing positioning method and device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103722449A CN103722449A (en) | 2014-04-16 |
| CN103722449B true CN103722449B (en) | 2016-06-29 |
Family
ID=50446871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210392978.8A Active CN103722449B (en) | 2012-10-16 | 2012-10-16 | Toolroom machine processing positioning method and device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103722449B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104181861B (en) * | 2014-09-02 | 2017-05-17 | 上海维宏电子科技股份有限公司 | Biaxial numerical control machine tool correction positioning implementation method and system based on counterpoint platform |
| CN104551866A (en) * | 2015-01-29 | 2015-04-29 | 周玉红 | Automatically-view-finding camera for assembly line |
| CN105277137B (en) * | 2015-10-08 | 2018-06-05 | 莆田市荣兴机械有限公司 | Scavenging air valve detects alignment method |
| CN105252376A (en) * | 2015-10-14 | 2016-01-20 | 中国人民解放军国防科学技术大学 | Workpiece self-locating device for high-precision polishing machine tool and machining method |
| CN105397568A (en) * | 2015-12-24 | 2016-03-16 | 湖州以创精工机械有限公司 | Calculating method for turning tool center height error of lathe |
| US10359266B2 (en) * | 2016-04-19 | 2019-07-23 | Okuma Corporation | Position measurement method of object in machine tool and position measurement system of the same |
| CN106181585A (en) * | 2016-09-19 | 2016-12-07 | 深圳大宇精雕科技有限公司 | It is applicable to the carving milling Apparatus and method for of intermetallic composite coating |
| CN107977953A (en) * | 2016-10-20 | 2018-05-01 | 英业达科技有限公司 | Workpiece conductive features inspection method and workpiece conductive features check system |
| CN108247428A (en) * | 2016-12-29 | 2018-07-06 | 中村留精密工业株式会社 | Work mechanism |
| CN107356202A (en) * | 2017-07-27 | 2017-11-17 | 中国科学院光电研究院 | A kind of laser scanning measurement system target sights method automatically |
| TWI710748B (en) * | 2019-04-15 | 2020-11-21 | 財團法人工業技術研究院 | Contour accuracy measuring system and method thereof |
| CN113675121A (en) * | 2020-05-13 | 2021-11-19 | 苏州能讯高能半导体有限公司 | Positioning method and device |
| CN112415948B (en) * | 2020-11-25 | 2022-10-04 | 长沙埃福思科技有限公司 | Surface type machining method based on numerical control machine tool with coordinate detection function |
| CN113538583A (en) * | 2021-07-28 | 2021-10-22 | 柔胜刚智能科技(苏州)有限公司 | Method for accurately positioning position of workpiece on machine tool and vision system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06246520A (en) * | 1993-02-26 | 1994-09-06 | Japan Steel Works Ltd:The | Calibration method of camera type reference hole drilling machine |
| CN2638920Y (en) * | 2003-08-06 | 2004-09-08 | 雷特国际股份有限公司 | Image detection device for processed article |
| DE102005022344B4 (en) * | 2005-05-13 | 2008-06-19 | Siemens Ag | Apparatus and method for workpiece measurement |
| TW200949472A (en) * | 2008-05-28 | 2009-12-01 | Univ Chung Yuan Christian | On-board two-dimension contour detection method and system |
| KR101013749B1 (en) * | 2009-02-06 | 2011-02-14 | (주)한테크 | CNC Machinery tool having vision system |
| CN102343526B (en) * | 2011-06-28 | 2013-09-04 | 天津汽车模具股份有限公司 | Method for quickly determining machining center of automobile die cast |
| CN203109713U (en) * | 2012-10-16 | 2013-08-07 | 西门子股份有限公司 | Machine tool processing and locating device |
-
2012
- 2012-10-16 CN CN201210392978.8A patent/CN103722449B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN103722449A (en) | 2014-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103722449B (en) | Toolroom machine processing positioning method and device thereof | |
| CN107942949B (en) | A kind of lathe vision positioning method and system, lathe | |
| US8700203B2 (en) | Calibration method for a spherical measurement probe | |
| US20080133173A1 (en) | Method and system for measuring an image of an object | |
| JP6588704B2 (en) | Tool cutting edge detection method and apparatus, and tool correction value setting apparatus | |
| US12058468B2 (en) | Image capturing apparatus, image processing apparatus, image processing method, image capturing apparatus calibration method, robot apparatus, method for manufacturing article using robot apparatus, and recording medium | |
| CN114001651B (en) | Large-scale slender barrel type component pose in-situ measurement method based on binocular vision measurement and priori detection data | |
| CN115841516A (en) | Method and device for modeling dynamic intrinsic parameters of camera | |
| CN203109713U (en) | Machine tool processing and locating device | |
| US20180156608A1 (en) | Method for measuring an artefact | |
| CN113840695B (en) | Calibration inspection assembly, robot system, inspection method and calibration method | |
| WO2021161530A1 (en) | Workpiece mounting method for machining apparatus, workpiece mounting support system, and workpiece mounting support program | |
| CN112967347B (en) | Pose calibration method, pose calibration device, robot and computer readable storage medium | |
| CN115187672A (en) | Geometric error calibration method and device, multi-axis motion system and storage medium | |
| CN108257184B (en) | Camera attitude measurement method based on square lattice cooperative target | |
| CN101660895B (en) | Computer system and method for accurately positioning element to be measured | |
| CN112631200A (en) | Machine tool axis measuring method and device | |
| CN112355711A (en) | Workpiece machining method and system based on CNC machine tool | |
| US20150287177A1 (en) | Image measuring device | |
| CN108592838B (en) | Calibration method and device of tool coordinate system and computer storage medium | |
| TWI575344B (en) | Tool processing and positioning method and device | |
| JP7509535B2 (en) | IMAGE PROCESSING APPARATUS, ROBOT SYSTEM, AND IMAGE PROCESSING METHOD | |
| TWM448341U (en) | Positioning method and apparatus in CNC machine tools | |
| Yang et al. | Beam orientation of EAST visible optical diagnostic using a robot-camera system | |
| CN115861422A (en) | Dynamic 3D laser projection positioning system and method based on trinocular vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |