Tool alignment method and device

Abstract

The present invention discloses a tool alignment method and device, belonging to the field of visual alignment. The method comprises: setting a first point light source on the first side wall of the bottom plate, and setting a first linear image sensor array relative to the third side wall; setting a second point light source on the second side wall of the bottom plate, and setting a second linear image sensor array relative to the fourth side wall; setting a control unit on the bottom plate, receiving the imaging coordinates of the alignment tool when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processing to obtain the position coordinates. Through the embodiments of the present invention, the alignment tool can be quickly and automatically aligned, with simple and fast operation, low cost and high efficiency to meet the rapid development of industry.

Description

Technical Field

[0001] The present invention relates to the field of visual alignment, and in particular to a tool alignment device and method based on a linear image sensor. Background Art

[0002] With the development of science and technology, the demand for tool alignment in various industries is increasing, and the requirements are getting higher and higher. In the production process of product manufacturing, processing, testing, etc., the application of alignment is becoming more and more extensive.

[0003] The related automatic tool alignment methods are mainly divided into contact tool alignment methods and non-contact tool alignment methods. Among them, the contact alignment method requires the configuration of a pressure sensor on the tool to be aligned. The tool to be aligned will experience deformation errors and wear or damage during the contact process. This method has gradually decreased in actual applications. The non-contact tool alignment method mainly includes the fiber laser tool alignment method and the camera CCD (Charge Coupled Device) tool alignment method. The fiber laser tool alignment method is difficult to obtain the correct position through one or several adjustments, and there are problems such as inconvenient operation, low alignment accuracy, and inability to achieve rapid alignment. The camera CCD camera tool alignment method is to transmit the image collected by the camera to the computer for image processing and analysis, and then obtain the coordinate position of the tool. Due to the high price of CCD cameras, the cost is high, and it also needs to be transmitted to the computer, which often takes a long time for fine-tuning, so it is too time-consuming and inefficient.

[0004] Therefore, it is necessary to propose a new tool alignment solution to solve the above technical problems. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a tool alignment method and device thereof, which can realize rapid and automatic alignment of tools to be aligned, with simple and fast operation, low cost and high efficiency, so as to meet the rapid development of industry.

[0006] The technical solution adopted by the present invention to solve the above technical problems is as follows:

[0007] According to one aspect of the present invention, a tool alignment method is provided, comprising:

[0008] A first point light source is arranged on the first side wall of the bottom plate, and a first linear image sensor array is arranged opposite to the third side wall; a second point light source is arranged on the second side wall of the bottom plate, and a second linear image sensor array is arranged opposite to the fourth side wall;

[0009] A control unit is arranged on the bottom plate to receive the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then obtains the position coordinates through processing.

[0010] In one possible design, a straight line connecting the first point light source and the first linear image sensor array intersects perpendicularly with a straight line connecting the second point light source and the second linear image sensor array.

[0011] In a possible design, the first linear image sensor array and the second linear image sensor array are respectively composed of a plurality of image sensors arranged linearly, and are respectively disposed at a vertical angle on the third side wall and the fourth side wall of the bottom plate.

[0012] In a possible design, the control unit receives the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processes and obtains the position coordinates, including:

[0013] Receiving and processing the imaging coordinates of the tool to be aligned through the first point light source on the first linear image sensor array to obtain the Y-axis coordinates;

[0014] Receiving and processing the imaging coordinates of the tool to be aligned through the second point light source on the second linear image sensor array, and then processing to obtain the X-axis coordinates;

[0015] The Z-axis coordinates are obtained through the up and down movement of the tool to be aligned and the intersection of the (X, Y) plane covered by the light from the first point light source and the second point light source, and the position coordinates (X, Y, Z) of the tool to be aligned are obtained.

[0016] In one possible design, the method further includes: respectively setting shading modules at the edges of the first point light source and the second point light source, and respectively controlling the light emitted by the first point light source to cover the first linear image sensor array and the light emitted by the second point light source to cover the second linear image sensor array.

[0017] According to another aspect of the present invention, a tool alignment method is provided, comprising:

[0018] Receiving and processing the imaging coordinates of the tool to be aligned through the first point light source on the first linear image sensor array to obtain the Y-axis coordinates;

[0019] Receiving and processing the imaging coordinates of the tool to be aligned through the second point light source on the second linear image sensor array, and then processing to obtain the X-axis coordinates;

[0020] The Z-axis coordinates are obtained through the up and down movement of the tool to be aligned and the intersection of the (X, Y) plane covered by the light from the first point light source and the second point light source, and the position coordinates (X, Y, Z) of the tool to be aligned are obtained.

[0021] In one possible design, the first point light source is arranged on the first side wall of the base plate, and the first linear image sensor array is arranged on the third side wall of the base plate opposite to the first point light source; the second point light source is arranged on the second side wall of the base plate, and the second linear image sensor array is arranged on the fourth side wall of the base plate opposite to the second point light source; the straight line connecting the first point light source and the first linear image sensor array intersects perpendicularly with the straight line connecting the second point light source and the second linear image sensor array.

[0022] According to another aspect of the present invention, a tool alignment device is provided, comprising: a base plate, a control unit, a first point light source, a second point light source, a first linear image sensor, and a second linear image sensor; wherein:

[0023] The first point light source is disposed on the first side wall of the bottom plate, and the first linear image sensor is disposed opposite to the third side wall;

[0024] The second point light source is disposed on the second side wall of the bottom plate, and the second linear image sensor is disposed opposite to the fourth side wall;

[0025] The control unit is disposed on the bottom plate, and is used for receiving the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processing to obtain the position coordinates.

[0026] In one possible design, a straight line connecting the first point light source and the first linear image sensor array intersects perpendicularly with a straight line connecting the second point light source and the second linear image sensor array.

[0027] In a possible design, the first linear image sensor array and the second linear image sensor array are respectively composed of a plurality of image sensors arranged linearly, and are respectively disposed at a vertical angle on the third side wall and the fourth side wall of the bottom plate.

[0028] In a possible design, the control unit receives the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processes and obtains the position coordinates, including:

[0029] Receiving the imaging coordinates of the tool to be aligned through the first point light source on the first linear image sensor array and obtaining the Y-axis coordinates after processing;

[0030] Receiving the imaging coordinates of the tool to be aligned through the second point light source on the second linear image sensor array and processing them to obtain the X-axis coordinates;

[0031] The Z-axis coordinates are obtained through the up and down movement of the tool to be aligned and the intersection of the (X, Y) plane covered by the light from the first point light source and the second point light source, and the position coordinates (X, Y, Z) of the tool to be aligned are obtained.

[0032] In one possible design, the device further includes a shading module, which is respectively arranged at the edges of the first point light source and the second point light source, and is used to control the light emitted by the first point light source to cover the first linear image sensor array and the light emitted by the second point light source to cover the second linear image sensor array.

[0033] Compared with the prior art, an embodiment of the present invention provides a tool alignment method and device thereof, comprising: setting a first point light source on the first side wall of a base plate, and setting a first linear image sensor array opposite to the third side wall; setting a second point light source on the second side wall of the base plate, and setting a second linear image sensor array opposite to the fourth side wall; setting a control unit on the base plate, receiving the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processing to obtain the position coordinates. Through the embodiments of the present invention, the tool alignment device using the point light source and the linear image sensor is simple and effective, and the position of the tool to be aligned is quickly obtained, so that fast and automatic alignment can be realized, which greatly improves the accuracy and reliability of tool alignment, and the alignment speed is also improved, thereby improving work efficiency and having the characteristics of simple and fast operation; the use of image lenses is eliminated, the cost of tool alignment is greatly reduced, the operation of manual confirmation is reduced, the system is more automated, and the work efficiency of the machine is indirectly improved; and there are no requirements for the tool to be aligned, and the tool to be aligned will not be damaged, thereby preventing accidents and avoiding unnecessary losses; on the other hand, the present invention directly transmits the alignment position coordinates through a control unit, without the need to match a computer and transmit the original image, and is easy to use, has high work efficiency, and low cost, and is worth promoting and applying. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic structural diagram of a tool alignment device provided by an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of a process flow of a tool alignment method provided by an embodiment of the present invention;

[0036] Figure 3 A schematic diagram of the structure of a tool alignment device with XYZ coordinate axes provided by an embodiment of the present invention;

[0037] Figure 4 A schematic diagram of converting imaging coordinates (u, v) into motor coordinates (x, y) provided by an embodiment of the present invention;

[0038] Figure 5 A schematic flow chart of a tool alignment method provided in another embodiment of the present invention;

[0039] Figure 6 A schematic flow chart of a tool alignment method provided in accordance with another embodiment of the present invention.

[0040] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0042] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0043] Please refer to Figure 1 The embodiment of the present invention provides a tool alignment device based on a linear image sensor, comprising: a base plate 1, a control unit 2, a first point light source 3, a second point light source 4, a first linear image sensor array 6 formed by a plurality of image sensors, a second linear image sensor array 5 formed by a plurality of image sensors, a shading module 7, and a shading module 8; wherein:

[0044] The first point light source 3 is disposed on the first side wall of the bottom plate 1, and the first linear image sensor array 6 is disposed on the third side wall opposite to the first point light source 3;

[0045] The second point light source 4 is disposed on the second side wall of the bottom plate 1, and the second linear image sensor array 5 is disposed opposite to the fourth side wall;

[0046] The straight line connecting the first point light source 3 and the first linear image sensor array 6 intersects perpendicularly with the straight line connecting the second point light source 4 and the second linear image sensor array 5;

[0047] The control unit 2 is arranged on the base plate 1, and is used to receive the imaging coordinates of the tool to be aligned through the cooperation of the first point light source 3 and the first linear image sensor array 6, and the second point light source 4 and the second linear image sensor array 5, and then obtain the position coordinates after processing.

[0048] The shading module 7 is disposed at the edge of the first point light source 3 , and is used to control the light emitted by the first point light source 3 to cover the first linear image sensor array 6 .

[0049] The shading module 8 is disposed at the edge of the second point light source 4 , and is used to control the light emitted by the second point light source 4 to cover the second linear image sensor array 5 .

[0050] Further, the control unit 2 receives the imaging coordinates of the tool to be aligned through the first point light source 3 and the first linear image sensor array 6, and the imaging coordinates of the second point light source 4 and the second linear image sensor array 5, and then processes them to obtain the position coordinates, including:

[0051] The first point light source 3 cooperates with the first linear image sensor array 6 to receive the imaging coordinates of the tool to be aligned through the first point light source 3 on the first linear image sensor array 6 and obtain the Y-axis coordinates after processing;

[0052] The second point light source 4 cooperates with the second linear image sensor array 5 to receive the imaging coordinates of the tool to be aligned through the second point light source 4 on the second linear image sensor array 5 and obtain the X-axis coordinates after processing;

[0053] The straight line connecting the second point light source 4 and the second linear image sensor array 5 intersects the straight line connecting the first point light source 3 and the first linear image sensor array 6 perpendicularly to obtain coordinates (X, Y);

[0054] The Z-axis coordinate is obtained by the up and down movement of the tool to be aligned and the intersection of the (X, Y) plane covered by the light from the first point light source 3 and the second point light source 4, thereby obtaining the exact position coordinates (X, Y, Z) of the tool to be aligned.

[0055] Preferably, the first linear image sensor array 6 and the second linear image sensor array 5 are respectively composed of a plurality of image sensors arranged linearly, and the first linear image sensor array 6 and the second linear image sensor array 5 are respectively arranged at vertical angles on the third side wall and the fourth side wall of the base plate 1.

[0056] Preferably, the control unit 2 may be a control board circuit, or a processor, or a component with control and image processing functions.

[0057] Preferably, the shading module 7 and the shading module 8 can make the light emitted by the first point light source 3 and the second point light source 4 just cover the first linear image sensor array 6 and the second linear image sensor array 5, and will not affect other directions; the shading module 7 and the shading module 8 can be a light cover or a shading plate or a lifting plate or elements with the above functions.

[0058] Preferably, the tool to be aligned is a dispensing needle.

[0059] In actual application, the process of a tool alignment device based on a linear image sensor provided by an embodiment of the present invention is as follows:

[0060] Turn on the first point light source 3 and the second point light source 4 respectively, and place the tool to be aligned at a position where the straight line formed by the first point light source 3 and the first linear image sensor array 6 and the straight line formed by the second point light source 4 and the second linear image sensor array 5 intersect vertically;

[0061] The light emitted by the first point light source 3 from the tool to be aligned is projected onto the first linear image sensor array 6 to form imaging coordinates, which are then processed by the control unit to obtain Y-axis coordinates;

[0062] The light emitted by the second point light source 4 from the tool to be aligned is projected onto the second linear image sensor array 5 to form imaging coordinates, which are then processed by the control unit to obtain X-axis coordinates;

[0063] The up and down movement of the tool to be aligned intersects with the (X, Y) plane covered by the light from the first point light source 3 and the second point light source 4 to obtain the Z-axis coordinates, thereby obtaining the exact position coordinates (X, Y, Z) of the tool to be aligned.

[0064] Please refer to Figure 2 The embodiment of the present invention provides a tool alignment method based on a linear image sensor, comprising:

[0065] S1, a first point light source is arranged on the first side wall of the bottom plate, and a first linear image sensor array is arranged opposite to the third side wall; a second point light source is arranged on the second side wall of the bottom plate, and a second linear image sensor array is arranged opposite to the fourth side wall;

[0066] S2. A control unit is provided on the bottom plate, wherein the control unit receives the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and obtains the position coordinates through processing.

[0067] Further, in step S1, the first linear image sensor array and the second linear image sensor array are respectively composed of a plurality of image sensors arranged linearly, and the first linear image sensor array and the second linear image sensor array are respectively arranged at vertical angles on the third side wall and the fourth side wall of the base plate.

[0068] Furthermore, in the step S1, a straight line connecting the first point light source and the first linear image sensor array is set to intersect vertically with a straight line connecting the second point light source and the second linear image sensor array.

[0069] Furthermore, the step S1 further includes setting shading modules at the edges of the first point light source and the second point light source, respectively, for controlling the light emitted by the first point light source to cover the first linear image sensor array and the light emitted by the second point light source to cover the second linear image sensor array.

[0070] Furthermore, in step S2, the control unit receives the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processes and obtains the position coordinates, including:

[0071] Receiving the imaging coordinates of the tool to be aligned through the first point light source on the first linear image sensor array and obtaining the Y-axis coordinates after processing;

[0072] Receiving the imaging coordinates of the tool to be aligned through the second point light source on the second linear image sensor array and processing them to obtain the X-axis coordinates;

[0073] The Z-axis coordinates are obtained through the up and down movement of the tool to be aligned and the intersection of the (X, Y) plane covered by the light from the first point light source and the second point light source, and the exact position coordinates (X, Y, Z) of the tool to be aligned are obtained.

[0074] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0075] Embodiment 1:

[0076] Please refer to Figure 3 The embodiment of the present invention provides a tool alignment device based on a linear image sensor, comprising: a base plate 1, a control unit 2, a first point light source 3, a second point light source 4, a first linear image sensor array 6 formed by a plurality of image sensors arranged, a second linear image sensor array 5 formed by a plurality of image sensors arranged, a shading module 7, and a shading module 8; wherein:

[0077] The first point light source 3 is disposed on a first side wall of the bottom plate 1 , and the first linear image sensor array 6 is disposed on a third side wall of the bottom plate 1 opposite to the first point light source 3 .

[0078] The second point light source 4 is disposed on the third side wall of the bottom plate 1 , and the second linear image sensor array 5 is disposed on the fourth side wall of the bottom plate 1 opposite to the first point light source 4 .

[0079] A straight line connecting the first point light source 3 and the first linear image sensor array 6 intersects perpendicularly with a straight line connecting the second point light source 4 and the second linear image sensor array 5 .

[0080] The first linear image sensor array 6 and the second linear image sensor array 5 are respectively composed of a plurality of image sensors arranged linearly, and the first linear image sensor array 6 and the second linear image sensor array 5 are respectively arranged at a vertical angle on the third side wall and the fourth side wall of the base plate 1 .

[0081] The control unit 2 is disposed on the bottom plate 1, and is used to receive the imaging coordinates of the tool to be aligned when the first point light source 3 cooperates with the first linear image sensor array 6, and the second point light source 4 cooperates with the second linear image sensor array 5, and then processes and obtains the position coordinates; including:

[0082] The side of the bottom plate where the second point light source 4 is located is taken as the X-axis, the side of the bottom plate where the first linear image sensor array 6 is located is taken as the Y-axis, the intersection of the side of the bottom plate where the second point light source 4 is located and the side of the bottom plate where the first linear image sensor array 6 is located is taken as the origin, and the plane where the X-axis and the Y-axis are located and passes through the origin perpendicularly is taken as the Z-axis.

[0083] The first point light source 3 cooperates with the first linear image sensor array 6 to receive the light emitted by the tool to be aligned through the first point light source 3, and obtains the Y-axis coordinate (0, Y) at the imaging coordinate v of the first linear image sensor array 6 after processing;

[0084] The second point light source 4 cooperates with the second linear image sensor array 5 to receive the light emitted by the tool to be aligned through the second point light source 4, and obtains the X-axis coordinate (X, 0) at the imaging coordinate u of the second linear image sensor array 5 after processing;

[0085] The straight line connecting the second point light source 4 and the second linear image sensor array 5 intersects the straight line connecting the first point light source 3 and the first linear image sensor array 6 at right angles to obtain coordinates (X, Y);

[0086] By moving the tool to be aligned up and down and the intersection of the plane covered by the coordinates (X, Y) of the light from the first point light source 3 and the light from the second point light source 4, the Z-axis coordinate is obtained after processing, and the (X, Y, Z) coordinate is obtained, thereby obtaining the exact position coordinates (X, Y, Z) of the tool to be aligned.

[0087] The shading module 7 is arranged at the edge of the first point light source 3, and is used to control the light emitted by the first point light source 3 to just cover the first linear image sensor array 6, and will not affect other directions; the shading module 7 can be a light cover or a shading plate or a lifting plate or an element with the above functions. In the present embodiment, the shading module 7 is a light cover.

[0088] The shading module 8 is arranged at the edge of the second point light source 4, and is used to control the light emitted by the second point light source 4 to just cover the second linear image sensor array 5 without affecting other directions; the shading module 8 can be a light cover or a shading plate or a lifting plate or an element with the above functions. In the present embodiment, the shading module 8 is a light cover.

[0089] Embodiment 2:

[0090] Please refer to Figure 4 An embodiment of the present invention provides a schematic diagram of converting imaging coordinates (u, v) into motor coordinates (x, y).

[0091] The imaging coordinates (u, v) received by the control unit 2 are the imaging coordinates obtained after the tool to be aligned passes through the first point light source 3 and the second point light source 4 and is projected onto the corresponding first linear image sensor array 6 and second linear image sensor array 5, while the coordinates (x, y) are the motor coordinates for moving the tool to be aligned. In actual application, the imaging coordinates (u, v) need to be converted into motor coordinates (x, y).

[0092] In an embodiment of the present invention, the imaging coordinates (u, v) are converted to the motor coordinates (x, y) by the following mapping transformation method:

[0093]

[0094] according to Figure 4 The structural diagram of is given:

[0095]

[0096] in is the scaling factor.

[0097] Introducing the transformation matrix ,as follows:

[0098]

[0099] but:

[0100]

[0101] That is:

[0102]

[0103] In order to obtain the above formula , the tool to be aligned is moved to the specified 4 positions by the motor drive, which is the calibration process, such as Figure 4 The positions of the four small dots in the middle and the corresponding four groups are obtained at the same time and .

[0104] Right now:

[0105]

[0106] Special, , so we can list 8 homogeneous equations from the above 4 equations, and we can get These 8 parameters.

[0107] Embodiment 3:

[0108] Please refer to Figure 5 The embodiment of the present invention provides a tool alignment method based on a linear image sensor, comprising:

[0109] S101, a first point light source is arranged on a first side wall of a bottom plate, and a first linear image sensor array composed of a plurality of image sensors arranged linearly is arranged opposite to a third side wall;

[0110] S102, disposing a second point light source on the second side wall of the bottom plate, and disposing a second linear image sensor array composed of a plurality of image sensors arranged linearly opposite to the fourth side wall;

[0111] S103, disposing the first linear image sensor array and the second linear image sensor array at a vertical angle on the third side wall and the fourth side wall of the bottom plate respectively;

[0112] S104, setting a straight line connecting the first point light source and the first linear image sensor array and a straight line connecting the second point light source and the second linear image sensor array to intersect vertically;

[0113] S105, respectively setting a shading module at the edge of the first point light source and the second point light source, respectively used to control the light emitted by the first point light source to cover the first linear image sensor array and the light emitted by the second point light source to cover the second linear image sensor array;

[0114] S106, a control unit is provided on the bottom plate to receive and process the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then obtains the position coordinates through processing;

[0115] S107, making the tool to be aligned pass through the imaging coordinates of the first point light source on the first linear image sensor array, and then receiving and processing by the control unit to obtain a Y-axis coordinate;

[0116] S108, making the tool to be aligned pass through the imaging coordinates of the second linear image sensor array by the second point light source, and then receiving and processing by the control unit to obtain an X-axis coordinate;

[0117] S109, the up and down movement of the tool to be aligned intersects with the (X, Y) plane covered by the light from the first point light source and the second point light source to obtain the Z-axis coordinates, and the control unit receives and processes to obtain the exact position coordinates (X, Y, Z) of the tool to be aligned.

[0118] Embodiment 4:

[0119] Please refer to Figure 6 . An embodiment of the present invention provides a tool alignment method based on a linear image sensor, wherein a first point light source is arranged on a first side wall of a bottom plate, and a first linear image sensor array is arranged opposite to a third side wall; a second point light source is arranged on a second side wall of the bottom plate, and a second linear image sensor array is arranged opposite to a fourth side wall, and a straight line connecting the first point light source and the first linear image sensor array and a straight line connecting the second point light source and the second linear image sensor array intersect vertically; a control unit is arranged on the bottom plate, and the control unit receives imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processes and obtains position coordinates;

[0120] The method comprises:

[0121] S10, receiving the imaging coordinates of the tool to be aligned through the first point light source on the first linear image sensor array and processing them to obtain the Y-axis coordinates;

[0122] S20, receiving the imaging coordinates of the tool to be aligned through the second point light source on the second linear image sensor array and processing them to obtain the X-axis coordinates;

[0123] S30, obtaining the Z-axis coordinates through the up and down movement of the tool to be aligned and the intersection of the (X, Y) plane covered by the light from the first point light source and the second point light source, and obtaining the exact position coordinates (X, Y, Z) of the tool to be aligned.

[0124] In addition, an embodiment of the present invention also provides a computer-readable storage medium, on which one or more programs of the tool alignment method are stored. When the one or more programs of the tool alignment method are executed by a processor, the following steps of the tool alignment method provided by the embodiment of the present invention are implemented.

[0125] S10, receiving the imaging coordinates of the tool to be aligned through the first point light source on the first linear image sensor array and processing them to obtain the Y-axis coordinates;

[0126] S20, receiving the imaging coordinates of the tool to be aligned through the second point light source on the second linear image sensor array and processing them to obtain the X-axis coordinates;

[0127] S30, obtaining the Z-axis coordinates through the up and down movement of the tool to be aligned and the intersection of the (X, Y) plane covered by the light from the first point light source and the second point light source, and obtaining the exact position coordinates (X, Y, Z) of the tool to be aligned.

[0128] It should be noted that the tool alignment method program embodiment on the above-mentioned computer-readable storage medium and the method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are correspondingly applicable in the embodiment of the above-mentioned computer-readable storage medium, which will not be repeated here.

[0129] A tool alignment method and device provided by an embodiment of the present invention include: setting a first point light source on the first side wall of a base plate, and setting a first linear image sensor array opposite to the third side wall; setting a second point light source on the second side wall of the base plate, and setting a second linear image sensor array opposite to the fourth side wall; setting a control unit on the base plate, receiving the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processing to obtain the position coordinates. Through the embodiments of the present invention, the tool alignment device using the point light source and the linear image sensor is simple and effective, and the position of the tool to be aligned is quickly obtained, so that fast and automatic alignment can be realized, which greatly improves the accuracy and reliability of tool alignment, and the alignment speed is also improved, thereby improving work efficiency and having the characteristics of simple and fast operation; the use of image lenses is eliminated, the cost of tool alignment is greatly reduced, the operation of manual confirmation is reduced, the system is more automated, and the work efficiency of the machine is indirectly improved; and there are no requirements for the tool to be aligned, and the tool to be aligned will not be damaged, thereby preventing accidents and avoiding unnecessary losses; on the other hand, the present invention directly transmits the alignment position coordinates through a control unit, without the need to match a computer and transmit the original image, and is easy to use, has high work efficiency, and low cost, and is worth promoting and applying.

[0130] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0131] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0132] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0133] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A tool alignment method, characterized in that: include: A first point light source is arranged on the first side wall of the bottom plate, and a first linear image sensor array is arranged opposite to the third side wall; A second point light source is arranged on the second side wall of the bottom plate, and a second linear image sensor array is arranged opposite to the fourth side wall, wherein a straight line connecting the first point light source and the first linear image sensor array and a straight line connecting the second point light source and the second linear image sensor array intersect vertically; A control unit is provided on the bottom plate to receive the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then obtains the position coordinates through processing; The control unit receives the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processes and obtains the position coordinates, including: Receiving and processing the imaging coordinates of the tool to be aligned through the first point light source on the first linear image sensor array to obtain the Y-axis coordinates; Receiving and processing the imaging coordinates of the tool to be aligned through the second point light source on the second linear image sensor array, and then processing to obtain the X-axis coordinates; The Z-axis coordinates are obtained through the up and down movement of the tool to be aligned and the intersection of the (X, Y) plane covered by the light from the first point light source and the second point light source, and the position coordinates (X, Y, Z) of the tool to be aligned are obtained.

2. The method according to claim 1, characterized in that The first linear image sensor array and the second linear image sensor array are respectively composed of a plurality of image sensors arranged in a linear manner and are respectively disposed on the third side wall and the fourth side wall of the bottom plate at a vertical angle.

3. The method according to claim 1, characterized in that The method further includes: setting shading modules at the edges of the first point light source and the second point light source respectively, and controlling the light emitted by the first point light source to cover the first linear image sensor array and the light emitted by the second point light source to cover the second linear image sensor array respectively.

4. A tool alignment method, characterized in that: include: Receiving and processing the alignment tool to obtain the Y-axis coordinate after the imaging coordinate of the first linear image sensor array through the first point light source; Receiving and processing the imaging coordinates of the tool to be aligned through the second point light source on the second linear image sensor array and processing to obtain the X-axis coordinates; The Z-axis coordinates are obtained by the up-and-down movement of the tool to be aligned and the intersection of the (X, Y) plane covered by the light from the first point light source and the second point light source, thereby obtaining the position coordinates (X, Y, Z) of the tool to be aligned; Among them, the first point light source is arranged on the first side wall of the base plate, and the first linear image sensor array is arranged on the third side wall of the base plate opposite to the first point light source; the second point light source is arranged on the second side wall of the base plate, and the second linear image sensor array is arranged on the fourth side wall of the base plate opposite to the second point light source; the straight line connecting the first point light source and the first linear image sensor array intersects perpendicularly with the straight line connecting the second point light source and the second linear image sensor array.

5. A tool alignment device, applied to the tool alignment method according to any one of claims 1 to 3, or applied to the tool alignment method according to claim 4, characterized in that: include: A base plate, a control unit, a first point light source, a second point light source, a first linear image sensor, and a second linear image sensor; wherein: The first point light source is disposed on the first side wall of the bottom plate, and the first linear image sensor is disposed opposite to the third side wall; The second point light source is disposed on the second side wall of the bottom plate, and the second linear image sensor is disposed on the fourth side wall opposite to the first point light source, and the straight line connecting the first point light source and the first linear image sensor array intersects perpendicularly with the straight line connecting the second point light source and the second linear image sensor array; The control unit is disposed on the bottom plate, and is used to receive the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processes and obtains the position coordinates; The first linear image sensor array and the second linear image sensor array are respectively composed of a plurality of image sensors arranged in a linear manner, and are respectively arranged on the third side wall and the fourth side wall of the bottom plate at a vertical angle.

6. The device according to claim 5, characterized in that The control unit receives the imaging coordinates of the tool to be aligned when the first point light source cooperates with the first linear image sensor array and the second point light source cooperates with the second linear image sensor array, and then processes and obtains the position coordinates, including: Receiving the imaging coordinates of the tool to be aligned through the first point light source on the first linear image sensor array and obtaining the Y-axis coordinates after processing; Receiving the imaging coordinates of the tool to be aligned through the second point light source on the second linear image sensor array and processing them to obtain the X-axis coordinates; The Z-axis coordinates are obtained through the up and down movement of the tool to be aligned and the intersection of the (X, Y) plane covered by the light from the first point light source and the second point light source, and the position coordinates (X, Y, Z) of the tool to be aligned are obtained.

7. The device according to claim 5, characterized in that The device further includes a shading module, which is respectively arranged at the edges of the first point light source and the second point light source, and is respectively used to control the light emitted by the first point light source to cover the first linear image sensor array and the light emitted by the second point light source to cover the second linear image sensor array.

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