CN102128589B - Method for correcting azimuth errors of inner bore of part in process of assembling axle hole - Google Patents
Method for correcting azimuth errors of inner bore of part in process of assembling axle hole Download PDFInfo
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Abstract
本发明是一种在轴孔装配中零件内孔方位误差的校正方法，该方法将六轴机械臂第六轴末端的摄像头移动到零件内孔的上方；提取出摄像头的零件内孔图像中形成的环形区域外边缘和内边缘；通过空间变换算法将环形区域外边缘和内边缘变换成两条二维曲线；根据这两条二维曲线计算出环形区域外边缘和内边缘的位置关系，进而确定零件内孔的偏移误差，然后将机器人向着减小误差的方向进行重复调整，直至计算出的角度偏移误差在允许范围以内。本发明设计出的装配误差快速校正算法，能够大大降低了在零件轴和零件内孔装配过程中夹具对零件夹取精度的要求，提高自动化零件轴和零件内孔装配的成功率。
The invention relates to a method for correcting the azimuth error of the inner hole of a part in shaft hole assembly. The method moves the camera at the end of the sixth axis of the six-axis mechanical arm above the inner hole of the part; extracts the image of the inner hole of the part from the camera to form The outer edge and inner edge of the annular area; through the space transformation algorithm, the outer edge and inner edge of the annular area are transformed into two two-dimensional curves; the positional relationship between the outer edge and inner edge of the annular area is calculated according to these two two-dimensional curves, and then Determine the offset error of the inner hole of the part, and then repeatedly adjust the robot in the direction of reducing the error until the calculated angular offset error is within the allowable range. The fast assembly error correction algorithm designed by the present invention can greatly reduce the requirements of the fixture on the part clamping accuracy during the assembly process of the part shaft and the part inner hole, and improve the success rate of the automatic part shaft and part inner hole assembly.
Description
Technical field
The present invention relates to the part locating method before a kind of assembling, particularly relate to a kind of azimuthal error bearing calibration of the inner bore of part based on dynamic vision.
Background technology
In the industrial automation process, assembling is the indispensable link of production, and shaft parts and inner bore of part are assemblied in a large number existence in the actual production.In high-precision part axle and inner bore of part assembling, the importance of locating element is particularly outstanding accurately.And in the process of actual production, because the randomness that the wearing and tearing that mechanical clips produces in long-term use procedure and robot are placed part, so that mechanical clips is treated the requirement that the bearing accuracy of Assembly part is difficult to satisfy assembly precision, therefore, press down in the process in assembling, because there is deviation in the angle in axle and hole, possibility 1) causes press-fiting and join unsuccessfully, reduce assembly yield, perhaps 2) cause part deformation to affect the serviceable life of assembly too greatly because of the internal force between the axle of hole.
Assembly problem for vision guide, the seat civilization, the employings such as Zheng Yanxing two angled cameras above Assembly part extract the mode that part feature positions, designed and Implemented the method (vision correction of error in the robot fittage that coarse positioning and error to the Assembly part endoporus reduce, " robot ", 2001,23 (5); Shaft parts under the visual guidance and the research of inner bore of part passive assembly, " Southeast China University's journal ", 2001,31 (2); Based on the shaft parts of framing and the error analysis in the inner bore of part assembling, " robot ", 2000,22 (4)).The people such as S.Okumura are at Error prevention in robotic assembly tasks by amachine vision and statistical pattern recognition method (International Journal of Production Research, 2005,43 (7): 1397-1410) in the literary composition, proposed estimation of error and error calibration method based on Robot Binocular Vision for the robot fittage.In the method, the CCD camera of two high speeds is fixed on the robot arm, can collect in real time the surface characteristics of Assembly part, adopts the mode of stereoscopic vision coupling that part is followed the tracks of, can determine the orientation of Assembly part, thereby instruct the SCARA robot to assemble.Yet in the assembly method of existing vision guide, how all to have adopted the mode of binocular camera shooting head that part is positioned, its bearing accuracy relies on the precision that the binocular camera shooting head obtains image and image characteristics extraction to a great extent like this, the precision of algorithm for stereo matching, when camera is fixed in the robot, also to consider the bearing accuracy of robot etc.These method more complicated, equipment performance is had relatively high expectations on (such as the high-speed camera head), thereby price is higher, and in the assembly system of reality, the existence of part own can be utilized to carry out the feature of error judgment, can be in order to instruct the correction of rigging error.
Summary of the invention
The technical matters that (one) will solve
In view of this, the object of the invention provide a kind of can be by being fixed on the camera collection part image of having demarcated of six shaft mechanical arms the 6th shaft end, image information according to inner bore of part in the part image, calculate position offset error and the angular deflection error in part orientation, according to position and the angle of position offset error and angular deflection regulating error six shaft mechanical arms the 6th shaft end camera, until the camera central shaft is aimed at fully with the axis of inner bore of part.Can determine that according to the orientation of camera six shaft mechanical arms carry out shaft parts pack into orientation and the application of force direction of inner bore of part, guarantee that the assembling of shaft parts and inner bore of part reliably finishes.Shaft parts and the bearing calibration of inner bore of part rigging error based on dynamic vision, solve existing shaft parts and inner bore of part mounting technology in order to this, the problem of the assembling failure that causes owing to the positioning error of inner bore of part improves the success ratio of shaft parts and inner bore of part assembling.
(2) technical scheme
For reaching described purpose, the present invention proposes a kind of bearing calibration of inner bore of part azimuthal error in the axis hole assembling, and the method is achieved through the following technical solutions:
Step S1: will be put on the anchor clamps with the part of endoporus and clamp, and make the upper edge of inner bore of part exposed; The camera of having demarcated that is fixed on six shaft mechanical arms the 6th shaft end is moved to the top of inner bore of part, its exposed plane parallel when the inner bore of part as plane and precognition of described camera is accurately located; Adjust the height of camera above inner bore of part, make camera can obtain clearly the image of inner bore of part, and guarantee that inner bore of part occupies larger zone in image;
Step S2: obtain the inner bore of part image by camera, the recycling image processing algorithm, extract annular region that inner bore of part forms in camera image, extract the edge that edge and lower edge form on the inner bore of part in camera image, described edge is inward flange and the outward flange of annular region;
Step S3: the outer peripheral center of gravity of annular region that forms in camera image take inner bore of part is as initial point, set up polar coordinate system, utilize polar coordinate system to the spatial alternation algorithm of rectangular coordinate system, outward flange and inward flange by annular region make up outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ), these two curve horizontal ordinates are that initial point is the angle θ of the vector of starting point in the polar coordinate system, and ordinate is respectively the length that the length of described vector and annular region outward flange intersection point line segment and vector and annular region intersect line segment;
Step S4: according to outward flange radius curve r (θ) and inward flange and these two curves of outward flange distance radius curve d (θ), utilize the position deviation direction of trying to achieve inner bore of part based on the geometric transformation algorithm of projective theorem
With
Departure Δ D on the direction and angular deviation direction
With
Departure α on the direction;
Step S5: if satisfy departure Δ D＜ε
1, α＜ε
2, ending step; If do not satisfy departure Δ D＜ε
1, α＜ε
2, then adjust camera along the opposite direction of position deviation
The distance of mobile Δ D, adjust again camera along
Opposite spin α, then forward step S2 to; Wherein, ε
1, ε
2To require the error criterion formulated according to different assembly precisions.
(3) beneficial effect of the present invention
The present invention compares with the error calibration method in the existing assembling process, on the one hand, that adopts is one and is fixed on movably camera of six shaft mechanical arms the 6th shaft end, this realizes the certain cost of method saving of part location than the dynamic dual camera of existing employing, obtain part image based on a camera simultaneously and then carry out the mode that image is processed, saved the processing of in the dual camera two width of cloth images being mated, accelerate on the one hand the speed that image is processed, also reduced the error that the images match process is introduced simultaneously; On the other hand, utilized in the assembling of shaft parts and inner bore of part, have the feature that be imaged as annular region of certain altitude inner bore of part in image, designed simple error calibration method, this passes through the mode that vision proofreaies and correct positioning error to the hi-Fix of Assembly part endoporus and compares with general, the feature that can be used for locating element of utilizing dexterously part self to have, be no longer dependent on complicated Processing Algorithm of effective image area being carried out extracted with high accuracy, also utilized fully simultaneously camera to the catching and the extension ability of actual deviation, extracted at identical image and improved the precision that part positioning error is estimated in the accuracy situation.Moreover, the new parameter from image space extraction key has been proposed, be mapped to analytical approach between another Simple hollow by certain mapping mode, the physical quantity that in the image space judgement of Assembly part site error and angular error is played a crucial role is put forward, and they are separated, be about to be subjected to part position error and angular error to analyze respectively, thereby the simultaneous error correction problem of multidimensional error has been changed into the Correction Problems of two one-dimensional errors, and this provides new solution thinking for the error correction problem in shaft parts and the inner bore of part assembling.
Description of drawings
Fig. 1 is the process flow diagram of the bearing calibration of inner bore of part azimuthal error in the axis hole assembling;
Fig. 2 is the error correction platform synoptic diagram with six shaft mechanical arm shaft parts of camera and inner bore of part assembling;
Fig. 3 is that camera is positioned at inner bore of part when top, the image-forming principle synoptic diagram of inner bore of part in camera;
Fig. 4 is that camera is positioned at circular inner bore of part top, and part is when existing different position skews and angle rotation error, the annular region synoptic diagram that inner bore of part forms in camera;
Fig. 5 is part when having different deviation, and the different annular regions that inner bore of part forms in camera image are by the spatial alternation of polar coordinates to rectangular coordinate, the different two-dimensional curve figure of formation.
Embodiment
The below describes specific embodiments of the present invention in conjunction with the accompanying drawings and embodiments in detail.But the present invention is not subjected to the restriction of embodiment described here, provides these examples just for more abundant and full disclosure invention, and scope of the present invention is informed those skilled in the art.
Fig. 1 is the process flow diagram of the bearing calibration of inner bore of part azimuthal error in the axis hole assembling, and each step that it has provided inventive method marks with S1-S5 respectively, and has provided the front and back logical relation that each step is carried out.The below will be described in detail the enforcement of each step.
Fig. 2 is that the critical component of shaft parts and inner bore of part rigging error dressing plate is explained as follows with the error correction platform synoptic diagram of six shaft mechanical arm shaft parts of camera and inner bore of part assembling: six shaft mechanical arms 1 contain the 6th axle 11, the 6th shaft end 111, the 6th axis in axis line 112, camera 2, camera axis 21, camera as on plane 22, the part 3, inner bore of part 31, inner bore of part with endoporus along 311, under the inner bore of part along 312, the paw 5 of the platform 4 of retaining element 3, shaft parts 33, gripping shaft parts 33.Inner bore of part 31 is circular hole, square hole or delthyrium; Camera is monocular cam.
Fig. 3 is that camera 2 is when being positioned at inner bore of part 31 top, the image-forming principle synoptic diagram of inner bore of part 31 in camera, wherein critical piece comprises: camera 2, the picture plane 22 of camera, part 3 with holes, inner bore of part 31, on the inner bore of part along 311, under the inner bore of part along 312, the upper surface 32 of part 3, under the perfect condition, part 3 during by accurate clamping on the inner bore of part along plane, 311 place 6, camera focus 23, the annular region 221 that inner bore of part 31 forms in as plane 22 at camera, camera is as the outward flange 222 of annular region in the plane 22, as the inward flange 223 of annular region in the plane.
(a) camera 2 is moved to directly over the inner bore of part 31 among Fig. 3, the picture plane 22 of camera in the ideal situation, part 3 is error free fixedly the time, and plane, place 6, inner bore of part 31 upper edge is parallel; And in fact since part 3 exist angle and offset error inner bore of part 31 upper edges 311 place part upper surfaces 32 not with part 3 error free fixedly the time plane, place, inner bore of part 31 upper edge 6 overlap with parallel.(b) is inner bore of part 31 forms image in the picture plane 22 of camera principle among Fig. 3, what inner bore of part 31 projected camera in the focus 33 by camera 2 as can be known is an annular region 221 as the image in the plane 22, wherein on the inner bore of part along 311 outward flanges 222 that in camera image, form annular region, under the inner bore of part along 312 outward flanges 223 that in camera image, form annular region.
Below in conjunction with Fig. 3, to camera 2 move to part 3 error free fixedly the time on the inner bore of part behind parallel position, plane, 311 place 6, inner bore of part 311 forms the phenomenon of annular region and carries out analytical explanation in camera image.
Suppose that camera 2 stably is fixed on the six shaft mechanical arms 1, the repetitive positioning accuracy of six shaft mechanical arms 1 is 0.05mm, and the positioning error of camera 2 that is fixed on the 6th shaft end 111 of six shaft mechanical arms 1 is limited in the 0.2mm;
OXYZ is the world coordinate system of the inner bore of part under the perfect condition, it is defined as follows: OXY be part 3 error free fixedly the time on the inner bore of part along plane, 311 place 6, camera 2 is moved to directly over the inner bore of part 21, and parallel with OXY, OZ is the central shaft of the accurately rear inner bore of part 21 of part 3 clampings under the perfect condition;
O ' X ' Y ' Z ' is the world coordinates of actual inner bore of part, and it is defined as: O ' is the upper along 311 geometric center of inner bore of part, O ' X ' Y ' be on the inner bore of part along plane, 311 place 32, O ' Z ' is the central shaft of inner bore of part 31;
Oxyz is the camera coordinate system, and it is defined as: o is camera main shaft 21 and the intersection point of camera as plane 22, and oxy represents camera as plane 22, and oz is outside as plane 22 perpendicular to camera.
To OXYZ, O ' X ' Y ' Z ', oxyz, carry out following analysis based on above:
Make (x
c, y
c, z
c) any point the three-dimensional coordinate among camera coordinate system oxyzs of expression on the object, (u, v) expression this point through the image transformation shown in Fig. 3 (b) after, camera as plane 22 on the coordinate of corresponding point.According to the projection imaging model, put as can be known and be expressed as the corresponding relation in plane and the camera coordinate system:
Wherein, (u
0, v
0) be camera central shaft 21 and the coordinate of camera as plane 22 intersection points, f is the camera focal length, and Δ x, Δ y are the distance between camera level and the vertical direction sensitivity speck, and λ is scale factor.
Can draw from formula (1)
λ＝1/z
c (2)
From (3), (4) formula can find out camera as the position of the picture point (u, v) the plane 22 in the camera parameter f, Δ x is in the known situation of Δ y, only with the coordinate (x of actual object in the camera coordinate system
c, y
c, z
c) relevant, and u only with x
c, z
cRelevant, v only with y
c, z
cRelevant.At x
c, y
cIn the fixing situation, z
cLarger, u, v is less, thereby the figure that forms in camera image is less, form the phenomenon of annular region 221 in camera image such as the inner bore of part 31 among Fig. 3 (b): lower edge 312 correspondences of inner bore of part annular region inward flange 223, annular region outward flange 222 along 312 correspondences on the inner bore of part.
Can draw to draw a conclusion: in shaft parts and inner bore of part assembling, camera be positioned at treat inner bore of part 31 directly over, and when camera central shaft 21 is parallel with inner bore of part central shaft (O ' Z '), the annular region outward flange 222 and the inward flange 222 that extract in the image that camera obtains are concentricity, that is:
Annular region outward flange center is relevant with the inner bore of part shape with outer peripheral distance to inward flange.In the fittage of reality, the shape of inner bore of part 31 may be circular, square or triangle, and the assembling of the inner bore of part 31 of circular shaft parts 33 and circle is the most general assembling mode, below we mainly take circular hole as example, the annular region inward flange that explanation inner bore of part 31 forms in camera image, the distance relation between the outward flange are further according to this relation design rigging error Correction Strategies.
Fig. 4 is that camera 2 is positioned at circular inner bore of part 31 tops, and part 3 is when existing the skew of different position and angle rotation error, the annular region synoptic diagram that inner bore of part 31 forms in camera 2, wherein, critical piece comprises: camera 2, part 3, inner bore of part 31, on the inner bore of part along 311, under the inner bore of part along 312, part outer edge 32, the annular region 221 that inner bore of part 31 forms in camera image, the outward flange 222 of the annular region that inner bore of part 31 forms, the outward flange 223 of the annular region that inner bore of part 31 forms, the edge 224 that the part outer edge forms in camera image.
(a) is that part 3 is by accurately clamping among Fig. 4, when camera 2 is positioned at directly over the circular inner bore of part 31, the synoptic diagram of the edge image that part 3 forms, (b) is that part 3 is by accurately clamping among Fig. 4, when camera 2 is positioned at directly over the circular inner bore of part 31, the synoptic diagram of the edge image that inner bore of part 31 forms, (c) is that part 3 exists when slightly taking back site error among Fig. 4, camera 2 is positioned at inner bore of part 31 tops, the synoptic diagram of edge image that inner bore of part 31 becomes, (d) is that part 3 exists when taking back more greatly site error among Fig. 4, the position that takes over, the top that camera 2 is positioned at circular inner bore of part 31, the synoptic diagram (dotted line represents to be covered part by inner bore of part 31 inwalls) of edge image that inner bore of part 31 becomes, when (e) is the less dextrorotation error of part 3 existence among Fig. 4, camera 2 is positioned at directly over the circular inner bore of part 31, the synoptic diagram of the edge image that inner bore of part is 31 one-tenth, (f) is that part 3 is when existing dextrorotation and position to move to left double error among Fig. 4, camera 2 is positioned at the top of circular inner bore of part 31, the synoptic diagram of circular edge image that inner bore of part 31 becomes, (g) is that part 3 is when existing dextrorotation and position to move to right double error among Fig. 4, camera 2 is positioned at the top of circular inner bore of part 31, the synoptic diagram of circular edge image that inner bore of part 31 becomes, when (h) is the larger dextrorotation error of part 3 existence among Fig. 4, camera 2 is positioned at the top of circular inner bore of part 31, the synoptic diagram of circular edge image that inner bore of part 31 becomes.
Provided among Fig. 4 when part 3 locations and angular error, on the inner bore of part along 311, under the inner bore of part along the morphological feature at 312 several edges that in camera image, may form, these features are the images that obtain by to camera 2, adopt image processing algorithm to extract the edge of annular region from the image of camera, the concrete steps of image processing algorithm are as follows:
Step 2a: the image of inner bore of part 31 is converted into gray level image, and adopts Gaussian filter that gray level image is carried out smoothing processing;
Step 2b: Buddhist nun (Canny) algorithm extraction gray-scale Image Edge is born in employing according to gray level image, obtains the Single pixel edge image of binaryzation;
Step 2c: adopt corrosion and expansion algorithm, remove the shorter and smaller noise edge in the Single pixel edge image background, the curve that has breakpoint on the Single pixel edge image is connected to become long continuous curve, the image that obtains having longer edges;
Step 2d: adopt the method for Hough transformation, from the image with longer edges, extract the curve similar to known inner bore of part edge geometric configuration, be: from the image with longer edges, extract circle, ellipse and long camber line;
Step 2e: according to the camera imaging principle, obtain following three features: be to be positioned at outward flange inside fully and inward flange is parallel with the outward flange part along corresponding inward flange under the curve, inner bore of part of complete known form along corresponding outward flange on the inner bore of part, according to outward flange curve and the inward flange curve of described three feature extraction inner bore of parts formation annular region in the image that comprises with inner bore of part edge geometric configuration similar curves.
Step 2e: according to the camera imaging principle, obtain following three features: be to be positioned at outward flange inside fully and inward flange is parallel with the outward flange part along corresponding inward flange under the curve, inner bore of part of complete known form along corresponding outward flange on the inner bore of part; For the inner bore of part 31 of circle, above-mentioned three are characterized as: be that to be positioned at outward flange inside fully along the inward flange of 312 correspondences under complete circle or ellipse, the circular inner bore of part parallel with the outward flange part with inward flange along the outward flange of 311 correspondences on the circular inner bore of part; In the image that comprises with inner bore of part edge geometric configuration similar curves, form outward flange curve and the inward flange curve of annular region according to described three feature extraction inner bore of parts, that is: extract outward flange (oval or circle) and inward flange (oval, the round or one section arc) curve of the annular region that circular inner bore of part 31 forms in comprising circle, oval and image than spiral.
When inner bore of part is shaped as square or during triangle, need to step 2d and the step 2e of above-mentioned image processing algorithm be made amendment, so that the inner bore of part that image processing algorithm can square shaped and annular region outward flange and the inward flange that leg-of-mutton inner bore of part forms in camera image extract.
For square (perhaps leg-of-mutton) inner bore of part, the step 2d of above-mentioned image processing algorithm and step 2e are revised as:
Step 2d: adopt the method for Hough transformation, extract the straight line of segmentation from the image with longer edges, the position relationship that exists between the straight line of follow-up segmentation extracts square (the perhaps triangle) that have in the longer edges image;
Step 2e: according to the camera imaging principle, obtain following three features: the outward flange along 311 correspondences on the inner bore of part of square (perhaps triangle) is the square or rectangular (perhaps triangle) similar to the inner bore of part shape, inward flange along 312 correspondences under square (perhaps triangular form) inner bore of part is positioned at inner parallel with outward flange with inward flange or the coincidence of outward flange fully, outward flange and the inward flange curve of the annular region that forms in the image that comprises square (perhaps triangle) according to three square (perhaps leg-of-mutton) inner bore of parts 31 of feature extraction.
Fig. 5 is that part 2 is when existing different deviation, the different annular regions that inner bore of part 31 forms in camera image, by the spatial alternation of polar coordinates to rectangular coordinate, the different two-dimensional curve figure that forms, wherein, critical piece comprises: the annular region outward flange 222 that inner bore of part 31 forms in camera image, the annular region outward flange 223 that inner bore of part 31 forms in camera image.
Figure 5 (a) to Fig 4 (c) in the hole part 311 and the part along the lower edge of the hole 312 formed in the outer edge and an inner annular edge area of polar coordinates to Cartesian coordinates by the transformation of the outer edge of the radius of the curve is formed from the inner edge and the outer edge of the radius of the curves in Figure 5 (b) in Fig 4 (d) in the hole part 311 and the part along the lower edge of the hole 312 formed in the outer annular edge and an inner edge region by polar coordinates to rectangular forming an outer edge of the transformation of the coordinates and the radius of the curve from the inner edge and the outer edge of the radius of the curves in Figure 5 (c) in Fig 4 (e) in the hole part 311 and the part along the lower edge of the hole 312 formed in the outer annular region edge and the inner edge of the polar coordinates to Cartesian coordinates by the transformation of the outer edge of the radius of the curve is formed and the inner edge and the outer edge distance radius curves in Figure 5 (d) in Fig 4 (f) in the upper edge of the hole part 311 and the inner part hole 312 is formed along the outer edge of the annular region and the inner edge of the polar coordinates to Cartesian coordinates by the transformation of forming an outer edge and the inner edge of the curve radius of the outer edge distance radius curves in Figure 5 (e) in Fig 4 (g) of the the upper edge of the hole part 311 and the hole part 312 along the outer edge of the annular region and the inner edge by polar coordinates to rectangular coordinates, forming an outer edge of the transformation curve and the inner radius of the outer edge of the edge distance radius curves in Figure 5 (f ) Fig 4 (h) in the hole part 311 and the part along the lower edge of the hole 312 formed in the outer edge and an inner annular edge area of polar coordinates to Cartesian coordinates by the transformation of the outer edge of the radius of the curve is formed and the inner edge and the outer edge distance radius curves .
According to Fig. 5, with inner bore of part 31 in camera image the annular region outward flange and inward flange by polar coordinates to the spatial alternation algorithm of rectangular coordinates transformation, the step that forms outward flange radius curve and inward flange and outward flange distance radius curve provides as follows:
Step 3a: the outer peripheral geometric center of annular region that forms in camera image take inner bore of part is as initial point, sets up the polar coordinate system on the edge image plane at annular region place; For the inner bore of part 31 of circle, this step should be: form greatest circle in annular region inward flange and the outward flange image (perhaps oval) according to the inner bore of part with circle in camera image, calculate its geometric center o; Take o as initial point, the polar coordinate system that an optional direction is set up as the x direction of polar coordinate system on the edge image plane at annular region place, if inner bore of part is shaped as square or triangle, then the calculating of annular region geometric center o should be the outer peripheral geometric center of annular region, i.e. maximum square or leg-of-mutton geometric center in the image at annular region place;
Step 3b: take polar x axle as axis of reference, intersect from the vector of polar coordinate system initial point and annular region, and should vector and annular region inward flange and outward flange meet at 2 points; For the inner bore of part 31 of circle, this step should be: take polar x axle as axis of reference, intersect from the vectorial ow of polar coordinate system initial point o and annular region, and vectorial ow and annular region inward flange and outward flange meet at 2 points, focus is respectively A, B.Order
d＝|AB|，r＝|oB|；
Step 3c: represent the anglec of rotation from ox to ow can make up following funtcional relationship with θ:
d＝f(θ)，r＝g(θ) (5)
Wherein, r is for being the outward flange radius curve, its physical meaning is the distance of polar coordinates initial point o and vectorial ow and outward flange intersection point, and d is inward flange and outward flange distance radius curve, and its physical meaning is the distance of polar coordinates initial point o and vectorial ow and inward flange and outward flange intersection point;
Step 3d: be that the vector of starting point and polar coordinates x axle angle theta are since 0 with initial point in the polar coordinate system, take step-length as 0.01, be increased to 2 π, according to above-mentioned funtcional relationship, calculate corresponding d (θ) and r (θ), construct outward flange radius curve r (θ) and inward flange and the outward flange distance radius curve d (θ) of discrete type, be the curve among Fig. 5.
When inner bore of part is shaped as square or during triangle, still can use above-mentioned polar coordinates to the spatial alternation algorithm of rectangular coordinates transformation with annular region outward flange and inward flange that inner bore of part 31 forms in camera image, be for conversion into outward flange radius curve and inward flange and outward flange distance radius curve.By using polar coordinates to the spatial alternation algorithm of rectangular coordinate to annular region outward flange and inward flange, the specificity analysis problem that becomes outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ) is simplified in the inward flange and the problem analysis of outward flange offsets that inner bore of part 31 are formed annular region in camera image.
The below is according to outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ), by the geometric transformation algorithm based on projective theorem, carry out the calculating of actual parts interior hole site skew and angular deflection error, the aligning adjustment of carrying out camera and inner bore of part according to position offset error and the angular deflection error of the inner bore of part that calculates, to proofread and correct inner bore of part 31 offset errors, estimation of error and aligning set-up procedure are as follows:
Step 4a: the pattern curve of r (θ) is made comparisons during with the true form curve of r (θ) and non-angular deviation, have on the pattern curve of r (θ) when obtaining the true form curve of r (θ) and bias free equal value the some correspondence be θ, it is outer peripheral without deformation direction to be in the inner bore of part image annular region, again according to the true form curve of r (θ) perpendicular to annular region outer peripheral without the direction of deformation direction on the deformation extent of the pattern curve of r (θ) during with respect to the non-angular deviation, calculate the deformation ratio of annular region outer edge; For the inner bore of part 31 of circle, this step should be: according on the same ellipse any 5 can this ellipse of reconstruct (because the equation of arbitrary ellipse is on the plane:
Contain a, b, x
0, y
0, these 5 parameters of θ), on this curve of r (θ), the school select equably 25 points (such as
K=0,1,2 ..., 25 points are got at 24 places), then 5 ellipses of reconstruct make up a more accurately elliptic curve to these 5 ellipses by average mode, calculate elliptical center position O, transverse a and ellipse short shaft b;
Step 4b: according to the geometric projection relation of camera imaging, utilize annular region outer peripheral without deformation direction angle θ, calculate the angular deviation direction of inner bore of part
Utilize the outer peripheral deformation ratio of annular region, calculate the angular deflection error alpha of inner bore of part; For the inner bore of part 31 of circle, this step should be: according to the ratio of transverse a and ellipse short shaft b, estimate the angle [alpha] (according to a=max r, b=maxrcos α) of inner bore of part 31 deflections.According to the deflection of ellipse in camera image, can estimate the angular deviation direction of inner bore of part 31
That is: the outward flange of the annular region 221 that forms in camera image of inner bore of part 31 exists
The angular error that has α on the direction;
Step 4c: obtain the central point O of outward flange and inward flange and the position of O ' according to r (θ) and r (θ)-d (θ), and according to the position of central point O and inner bore of part in the angular deviation direction
On when having the angular error of α, calculate the rotation error that only there is the α angle in inner bore of part not during the offset error of location, the position O of little elliptical center in the inner bore of part image "; Inner bore of part 31 for circle, this step should be: adopt identical method among the step a according to r (θ)-d (θ), obtain the annular region inward flange, be complete little ellipse or the little elliptic arc of part, determine the position O ' of center in camera image of little ellipse; Exist according to O point position and inner bore of part 31
When having the angular error of α on the direction, when calculating inner bore of part 31 only exists rotation error not have translation error, annular region inward flange (inner bore of part is) the position O of center in camera image ";
Step 4d: according to O ' and O " relative position relation and distance poor, determine the offset direction, position of inner bore of part 31
With
Position offset error Δ D on the direction;
Step 4e: according to the offset direction, position
With
Position offset error Δ D on the direction, angular deviation direction
With
Have α on the direction, with six shaft mechanical arms the 6th shaft end 111, first to-
Direction translation Δ D, again edge
The direction rotation angle [alpha];
So far, the first-order error trimming process is finished.Afterwards, continue repeating step S2 to the process of step S4, until the Δ D that calculates and α be within the error allowed band, that is: Δ D＜ε
1, α＜ε
2(ε
1, ε
2Require the error criterion of formulation according to different assembly precisions).
When inner bore of part is shaped as square or during triangle, need to step 4a, step 4b and the step 4c of above-mentioned geometric transformation algorithm based on projective theorem be made amendment, calculate inner bore of part position offset error and angular deflection error to get outward flange radius curve r (θ) that the geometric transformation algorithm can form according to square inner bore of part and leg-of-mutton inner bore of part and inward flange and outward flange distance radius curve d (θ) based on the photography theorem.
For square (perhaps leg-of-mutton) inner bore of part, the step 4a of above-mentioned image processing algorithm, step 4b and step 4c are revised as:
Step 4a: the pattern curve (being obtained by the spatial alternation algorithm of polar coordinate system to rectangular coordinate system by the square or triangle similar to the inner bore of part shape) of r (θ) is made comparisons during with the non-angular deviation with the true form curve of r (θ), have on the pattern curve of r (θ) when obtaining the true form curve of r (θ) and bias free equal value the some correspondence be θ, it is outer peripheral without deformation direction to be in the inner bore of part image annular region, again according to the true form curve of r (θ) perpendicular to annular region outer peripheral without the direction of deformation direction on the deformation extent of the pattern curve of r (θ) during with respect to the non-angular deviation, calculate the outer peripheral deformation ratio of annular region in the camera image;
Step 4b: according to the geometric projection relation of camera imaging, utilize annular region outer peripheral without deformation direction angle θ, calculate the angular deviation direction of inner bore of part
Utilize the outer peripheral deformation ratio of annular region, calculate the angular deflection error alpha of inner bore of part;
Step 4c: obtain annular region outward flange and the central point O of inward flange and the position of O ' square or that the triangle inner bore of part forms according to r (θ) and r (θ)-d (θ) in camera image, and according to the position of central point O and inner bore of part in angular deviation
When having the angular error of α on the direction, calculate the rotation error that only there is the α angle in inner bore of part not during the offset error of location, the position O of little elliptical center in the inner bore of part image ".
The above; only be the embodiment among the present invention; but protection scope of the present invention is not limited to this; anyly be familiar with the people of this technology in the disclosed technical scope of the present invention; can understand conversion or the replacement expected; all should be encompassed in of the present invention comprising within the scope, therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (6)
1. the bearing calibration of an inner bore of part azimuthal error in the axis hole assembling is characterized in that may further comprise the steps:
Step S1: will be put on the anchor clamps with the part of endoporus and clamp, and make the upper edge of inner bore of part exposed; The camera of having demarcated that is fixed on six shaft mechanical arms the 6th shaft end is moved to the top of inner bore of part, its exposed plane parallel when the inner bore of part as plane and precognition of described camera is accurately located; Adjust the height of camera above inner bore of part, make camera can obtain clearly the image of inner bore of part, and guarantee that inner bore of part occupies larger zone in image; Described larger zone is inner bore of part occupies 50%-80% in the image that camera obtains zone; Camera is monocular cam, and the main shaft of camera is parallel with the central axis of the 6th axle of six shaft mechanical arms, and camera is fixed on the 6th shaft end of six shaft mechanical arms, with the motion campaign of six shaft mechanical arms;
Step S2: obtain the inner bore of part image by camera, the recycling image processing algorithm, extract annular region that inner bore of part forms in camera image, extract the edge that edge and lower edge form on the inner bore of part in camera image, described edge is inward flange and the outward flange of annular region;
Step S3: the outer peripheral center of gravity of annular region that forms in camera image take inner bore of part is as initial point, set up polar coordinate system, utilize polar coordinate system to the spatial alternation algorithm of rectangular coordinate system, outward flange and inward flange by annular region make up outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ), these two curve horizontal ordinates are that initial point is the angle θ of the vector of starting point in the polar coordinate system, and ordinate is respectively the length that the length of described vector and annular region outward flange intersection point line segment and vector and annular region intersect line segment;
Step S4: according to outward flange radius curve r (θ) and inward flange and these two curves of outward flange distance radius curve d (θ), utilize the position deviation direction of trying to achieve inner bore of part based on the geometric transformation algorithm of projective theorem
With
Departure Δ D on the direction and angular deviation direction
With
Departure α on the direction;
Step S5: if satisfy departure Δ D＜ε
1, α＜ε
2, ending step; If do not satisfy departure Δ D＜ε
1, α＜ε
2, then adjust camera along the opposite direction of position deviation
The distance of mobile Δ D, adjust again camera along
Opposite spin α, then forward step S2 to; Wherein, ε
1, ε
2To require the error criterion formulated according to different assembly precisions.
2. the as claimed in claim 1 bearing calibration of inner bore of part azimuthal error in the axis hole assembling, it is characterized in that described exposed plane is under the perfect condition, when part is accurately located by anchor clamps, along the plane at place, this plane is vertical with the inner bore of part axis on the hole in piece part.
3. the as claimed in claim 1 bearing calibration of inner bore of part azimuthal error in the axis hole assembling is characterized in that the concrete steps of described image processing algorithm are:
Step 2a: the inner bore of part image is converted into gray level image, and adopts Gaussian filter that gray level image is carried out smoothing processing;
Step 2b: adopt the Canny algorithm to extract gray-scale Image Edge according to gray level image, obtain the Single pixel edge image of binaryzation;
Step 2c: adopt corrosion and expansion algorithm, remove the shorter and smaller noise edge in the Single pixel edge image background, the curve that has breakpoint on the Single pixel edge image is connected to become long continuous curve, the image that obtains having longer edges;
Step 2d: adopt the method for Hough transformation, from the image with longer edges, extract the curve similar to known inner bore of part edge geometric configuration;
Step 2e: according to the camera imaging principle, obtain following three features: be to be positioned at outward flange inside fully and inward flange is parallel with the outward flange part along corresponding inward flange under the curve, inner bore of part of complete known form along corresponding outward flange on the inner bore of part, according to outward flange curve and the inward flange curve of described three feature extraction inner bore of parts formation annular region in the image that comprises with inner bore of part edge geometric configuration similar curves.
4. the as claimed in claim 1 bearing calibration of inner bore of part azimuthal error in the axis hole assembling, it is characterized in that, described polar coordinate system is to carry out polar coordinates to the conversion of rectangular coordinate for annular region outward flange and inward flange image to the spatial alternation algorithm of rectangular coordinate system, and the concrete steps of this conversion are:
Step 3a: the outer peripheral geometric center of annular region that forms in camera image take inner bore of part is as initial point, sets up the polar coordinate system on the edge image plane at annular region place;
Step 3b: take polar x axle as axis of reference, intersect from the vector of polar coordinate system initial point and annular region, and should vector and annular region inward flange and outward flange meet at 2 points;
Step 3c: take vector and the rotation angle of x axle as independent variable, the polar coordinates initial point is dependent variable to vector with outward flange intersection point and distance vectorial and inward flange and outward flange intersection point, structure outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ) simplify the specificity analysis problem that becomes outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ) to the offsets problem analysis at the annular region edge in the binaryzation edge image at inner bore of part annular region place like this; Wherein, described two curve horizontal ordinates are the angle θ at vector and x axle clamp angle, and ordinate is respectively initial point to length and length vectorial and the crossing line segment of annular region vectorial and annular region outward flange intersection point line segment;
Step 3d: be that the vector of starting point and polar coordinates x axle angle theta are since 0 with initial point in the polar coordinate system, take step-length as 0.01, be increased to 2 π, calculate corresponding d (θ) and r (θ), construct outward flange radius curve r (θ) and inward flange and the outward flange distance radius curve d (θ) of discrete type.
5. the as claimed in claim 1 bearing calibration of inner bore of part azimuthal error in the axis hole assembling, it is characterized in that, described geometric transformation algorithm based on projective theorem is the two-dimensional curve r (θ) according to structure, d (θ) carries out the calculating of the interior hole site offset error of actual parts and angular deflection error, and the concrete steps of this calculating are:
Step 4a: the pattern curve of r (θ) is made comparisons during with the true form curve of r (θ) and non-angular deviation, have on the pattern curve of r (θ) when obtaining the true form curve of r (θ) and bias free equal value the some correspondence be θ, it is outer peripheral without deformation direction to be in the inner bore of part image annular region, again according to the true form curve of r (θ) perpendicular to annular region outer peripheral without the direction of deformation direction on the deformation extent of the pattern curve of r (θ) during with respect to the non-angular deviation, calculate the deformation ratio of annular region outer edge;
Step 4b: according to the geometric projection relation of camera imaging, utilize annular region outer peripheral without deformation direction angle θ, calculate the angular deviation direction of inner bore of part
Utilize the outer peripheral deformation ratio of annular region, calculate the angular deflection error alpha of inner bore of part;
Step 4c: obtain the central point O of outward flange and inward flange and the position of O ' according to r (θ) and r (θ)-d (θ), and according to the position of central point O and inner bore of part in angular deviation
When having the angular error of α on the direction, calculate the rotation error that only there is the α angle in inner bore of part not during the offset error of location, the position O of little elliptical center in the inner bore of part image ";
Step 4d: according to O ' and O " relative position relation and distance poor, determine the offset direction, position of inner bore of part
With
Position offset error Δ D on the direction.
6. the as claimed in claim 1 bearing calibration of inner bore of part azimuthal error in the axis hole assembling is characterized in that described inner bore of part is circular hole, square hole or delthyrium.
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