Mechanical vision locating method

Abstract

The invention discloses a machine vision positioning method, which adopts two ordinary cameras to jointly complete the detection task, including a long-distance camera for taking a global image of a target object and a short-distance camera for taking a short-distance image of an interested part. First calibrate the long-distance camera, and determine the proportional relationship between the pixel distance on the imaging plane of the short-distance camera and the actual physical distance; use the long-distance camera to capture the image of the target object, and determine the image coordinates and actual coordinates of the center of the interested part; Use the manipulator to move the close-range camera to the center of the part of interest, acquire the image and determine its image coordinates and actual coordinates, and obtain the actual precise position, shape, size and other information of the part. The invention utilizes two ordinary cameras to obtain the detailed information of the local interested part of the target object with high precision, and realizes the high-precision requirement of the industrial application of machine vision at a very low cost.

Description

technical field [0001] The invention belongs to the application field of machine vision in industry, and specifically relates to a machine vision positioning method, which utilizes two ordinary cameras to obtain detailed information of local interest parts of a target object in a large scene with high precision, such as accurate line segment Length, specific location of solder joints, etc. Background technique [0002] In modern industrial automation production, more and more machine vision technology is applied, involving various inspection, measurement and processing, such as laser engraving, printed circuit board pin welding, laser drilling, trademark cutting, etc. What these applications have in common is the need for continuous mass production and high requirements for product quality. This kind of work is highly repetitive and is usually done by manual inspection. [0003] If this process is completed simply by increasing the number of testing workers, it will inevit...

AI Technical Summary

Problems solved by technology

[0004] At present, research on the measurement or detection of planar objects basically uses a camera, such as the planar measurement method based on a single image in Chinese patent documents (its publication number is CN1427245, and the publication date is 2003.07.02) and the single-view method based on parallel lines Plane measurement method (its public number is CN1427246, and the public date is 2003.07.02), but because the camera needs to detect a larger area, when it is necessary to accurately observe some local interested parts of the entire area and real-time monitor these parts When performing necessary processing, such as more detailed detection and soldering of circuit board solder joints, a high-quality camera is required, otherwise it will be impossible to accurately analyze local interested parts, which will inevitably increase the cost of the equipment

[0005] Existing machine vision applications in the industry, either the detection accuracy is not high enough, or the cost of equipment is increased in order to achieve high precision

At present, the industry mainly uses a high-quality camera to detect the products on the assembly line, so the whole set of equipment is more expensive

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