CN105547173A - Screw return gap calibration method - Google Patents
Screw return gap calibration method Download PDFInfo
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- CN105547173A CN105547173A CN201510882905.0A CN201510882905A CN105547173A CN 105547173 A CN105547173 A CN 105547173A CN 201510882905 A CN201510882905 A CN 201510882905A CN 105547173 A CN105547173 A CN 105547173A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a screw return gap calibration method. The method comprises steps that the position of a motion platform in a stationary state is selected as a first position, an image acquisition device is utilized to carry out image acquisition for a reference characteristic of the motion platform, and a first image coordinate of a characteristic point of the reference characteristic is recorded; the motion platform does non-reciprocating motion from the first position to a second position; when the motion platform arrives at the second position, the image acquisition device is utilized to carry out image acquisition for the reference characteristic of the motion platform, and a second image coordinate of a characteristic point of the reference characteristic is recorded; a pixel equivalent is calculated by utilizing a distance between the first position and the second position and a distance between the first image coordinate and the second image coordinate. According to the method, a return gap is calculated according to position difference of the image coordinates of the characteristic points of the reference characteristics of the motion platform before and after reciprocating motion. The method has advantages of high automation, high precision and high efficiency.
Description
Technical field
The present invention relates to machine vision motion guidance technical field, be specifically related to a kind of screw mandrel return gap scaling method.
Background technology
Current various mobile intelligent terminal uses more and more extensive, and the size of intelligent terminal is also constantly diminishing, and the requirement of machining precision also improves thereupon, and this just has higher requirement to industrial production line.In industrial production line, nearly all equipment all relates to motion, and motion many employings open loop of comparatively normal use on the market at present or semiclosed loop servo-driver add the motion of screw mandrel or gear.But adopt the motion error source of screw mandrel or gear more, wherein obvious with return gap.Because return gap does not belong to stochastic error, and directly affect the measuring accuracy of motion, therefore need this error concealment in measuring process.
Existing motion is for the elimination in screw mandrel return gap, first manual measurement is carried out to return gap by surveying instruments such as clock gauges, then in calculation procedure, every when relating to the data in return gap, all need the return gap data of manual measurement to compensate.Owing to needing the numerical value in manual measurement return gap, thus make the measuring process of existing motion comparatively loaded down with trivial details, and measuring accuracy is lower.
Summary of the invention
Goal of the invention of the present invention is to provide a kind of screw mandrel return gap scaling method, and the method does not need manually to measure, and can obtain the screw mandrel return gap that precision is higher, significantly shortens the Measuring Time in return gap.
According to embodiments of the invention, provide a kind of screw mandrel return gap scaling method, comprising:
Choose motion platform static time position be primary importance, fixed reference feature is set on the moving platform;
Above described motion platform, image collecting device is installed;
Utilize image collecting device to carry out image acquisition to the fixed reference feature on described motion platform, and record the first image coordinate P of described fixed reference feature unique point
1;
Motion platform is made to do non-fold return motion by primary importance to the second place; After described motion platform arrives the second place, described image collecting device carries out image acquisition to the fixed reference feature on described motion platform, and records the second image coordinate P of described fixed reference feature unique point
2;
The distance between the distance, delta l of motion platform primary importance and the second place and the first image coordinate and the second image coordinate is utilized to calculate pixel equivalent r, wherein,
After described pixel equivalent calculates, make motion platform do fold return motion, the alternate position spike according to the image coordinate before and after motion platform fixed reference feature unique point fold return motion calculates return gap d=r||pt
1-pt
2||, wherein, pt
1for motion platform is image coordinate, the pt of fixed reference feature unique point before fold return motion
2for motion platform does the image coordinate of fixed reference feature unique point after fold return motion, || pt
1-pt
2|| be the image distance of fold return motion RELATED APPLICATIONS character point.
Preferably, calculate pixel equivalent r process in, described motion platform can do non-fold return motion between multiple position, described motion platform repeatedly non-turn back after pixel equivalent be
p
nfor the image coordinate of motion platform described fixed reference feature unique point after doing n non-fold return motion, wherein, n be more than or equal to 1 natural number.
Wherein, described motion platform is at least one times along the non-fold return motion of X-axis with at least one times along the non-fold return motion of Y-axis.
Preferably, described motion platform, when doing fold return motion, can repeatedly be turned back, described motion platform repeatedly turn back after return gap be d=r||pt
1-pt
m||, wherein, pt
mfor the image coordinate of motion platform described fixed reference feature unique point after doing m fold return motion, wherein, m be more than or equal to 1 natural number.
Wherein, described motion platform is at least one times along the fold return motion of X-axis with at least one times along the fold return motion of Y-axis.
From above technical scheme, screw mandrel return gap scaling method described in the application by the distance map of two positions in motion platform in imaging system, and the distance of two positions in imaging system is associated with the distance of two positions on motion platform, realize imaging system automatic Calibration and calculate the pixel equivalent between motion platform and image collecting device.After motion platform carries out fold return motion, only need obtain distance in the picture before and after motion platform fold return motion, and utilize pixel equivalent can calculate return gap actual before and after motion platform fold return motion.Therefore, screw mandrel gap of the present invention scaling method has the advantages that robotization is high, precision is high and efficiency is high.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 shows the schematic diagram in leading screw return gap;
Fig. 2 shows the process flow diagram of screw mandrel return gap scaling method;
Fig. 3 shows image collecting device and is installed on structural representation above motion platform;
The path profile that walks of motion platform when Fig. 4 is the imaging system automatic Calibration according to a preferred embodiment;
Fig. 5 is imaging system automatic Calibration process flow diagram;
Fig. 6 be according to a preferred embodiment for calculating return gap time motion platform the path profile that walks;
Fig. 7 is leading screw return clearance measurement process flow diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, carry out clear, complete description to the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 shows the schematic diagram in leading screw return gap.According to Fig. 1, the present inventor finds, the return gap of screw mandrel only exists when each direction of motion is contrary, if always to a direction motion, then can not there is return gap.From 1. ~ 3. process, each dextrorotation of screw mandrel takes two turns; From 3. ~ 5. process, screw mandrel is rotated counterclockwise two circles at every turn, and flight pitch is d, and the distance of actual motion as shown in Figure 1.The present inventor notices simultaneously, and computer vision has high precision, harmless imaging and localization characteristics, is applied in commercial production more and more.So, present inventor utilizes the feature of computer vision and the characteristic had in conjunction with return gap, provide a kind of scaling method of Measurement accuracy leading screw return gap, its precision can reach sub-pix rank, simultaneously the method also have efficiently, robotization, without the need to increasing the advantage of cost.
It should be noted that, in this application, the non-fold return motion of motion platform refers to that motion platform carries out the motion identical with last direction of motion.The fold return motion of motion platform refers to that motion platform carries out the motion contrary with last direction of motion.Motion platform moves under the drive of screw mandrel.
Below the scaling method in screw mandrel return gap in the application is described in detail.Fig. 2 shows the process flow diagram of screw mandrel return gap scaling method.As shown in Figure 1, comprise the steps:
S201: choose motion platform static time position be primary importance, fixed reference feature is set on the moving platform.
Scaling method in the application utilizes computer vision to realize, therefore need arrange fixed reference feature on the moving platform to carry out location, picture position.Fixed reference feature on motion platform can select color lump, word, regular pattern or other there is significant fixture.It should be noted that, fixed reference feature selects color lump, word, regular pattern etc. just exemplary, and every precision that can improve, has high definition feature, and the pattern etc. printed as laser-induced thermal etching or high definition printer all falls into protection scope of the present invention.
S202: install image collecting device above motion platform.
The position being installed on above motion platform, fixed reference feature image can be collected of image collecting device.Fig. 3 shows image collecting device and is installed on structural representation above motion platform.
S203: image collecting device carries out image acquisition to the fixed reference feature on motion platform, and the first image coordinate P recording fixed reference feature unique point
1.
In this application, fixed reference feature is generally a coordinate set, accurately locates for ease of image collecting device, in the present embodiment, fixed reference feature is chosen a unique point, as the central point of cross pattern, and the circular center of circle etc.Image collecting device, after collection image, utilizes framing algorithm automatically to locate and records fixed reference feature unique point image coordinate in the picture, be i.e. the first image coordinate P
1.
S204: make motion platform do non-fold return motion by primary importance to the second place.Arrive after the second place at motion platform, image collecting device carries out image acquisition to the fixed reference feature on motion platform, utilizes framing algorithm automatically to locate and records the second image coordinate P of fixed reference feature unique point
2.
Motion platform moves in known coordinate system, and motion platform is when primary importance moves to the second place or other positions, and the distance between each position and other positions all calculates by known coordinate system.
S205: utilize the distance between the distance, delta l of motion platform primary importance and the second place and the first image coordinate and the second image coordinate to calculate pixel equivalent r, wherein,
The ratio of fixed reference feature unique point distance between the two positions and the spacing of primary importance and the second place on the moving platform in pixel equivalent r described in the application and image.
Above-mentioned S201 ~ 205 step is imaging system automatic Calibration, by the distance map of two positions in motion platform in imaging system, and the distance of two positions in imaging system can be associated with the distance of two positions on motion platform by imaging system automatic Calibration.
S106: after pixel equivalent r calculates, make motion platform do fold return motion, the alternate position spike according to the image coordinate before and after motion platform fixed reference feature unique point fold return motion calculates return gap d=r||pt
1-pt
2||.
Wherein, pt
1for motion platform is image coordinate, the pt of fixed reference feature unique point before fold return motion
2for motion platform does the image coordinate of fixed reference feature unique point after fold return motion, || pt
1-pt
2|| be the image distance of fold return motion RELATED APPLICATIONS character point.Be mapped on motion platform, then the return gap after fixed reference feature unique point fold return motion is d=r||pt
1-pt
2||.
Further, for making the calculating of pixel equivalent more accurate, in the process of imaging system automatic Calibration, motion platform can be made between multiple position to do non-fold return motion, when motion platform arrives last position, calculating pixel equivalent
p
nfor the image coordinate of motion platform fixed reference feature unique point after doing n non-fold return motion, wherein, n be more than or equal to 1 natural number.
As another preferred computing method, motion platform also can be made to move between multiple position, in the moving process of multiple positions, comprise multiple non-fold return motion.The distance of each non-fold return motion is utilized to carry out the calculating of pixel equivalent, then be averaged the value of the multiple pixel equivalent obtained calculating, using the mean value that the obtains pixel equivalent as imaging system automatic Calibration, thus avoid screw mandrel gap to the impact of demarcating, improve the accuracy of the distance between picture-taking position.
The path profile that walks of motion platform when Fig. 4 is the imaging system automatic Calibration according to a preferred embodiment.As shown in Figure 4, motion platform according to
order move, take pictures at black real point place and carry out feature location.At ash point, do not take pictures in place.Imaging system automatic Calibration flow process as shown in Figure 5.
In the flow process shown in Fig. 5, when the position of motion platform motion does not reach 13, the instruction of movement need be performed always.When moving to the 13rd time, then motion platform stop motion.After this calibrated and calculated is carried out.In this flow process, wherein non-fold return motion totally 5 times.Utilize the distance of each non-fold return motion to carry out the calculating of pixel equivalent, be then averaged the value of the multiple pixel equivalent obtained calculating, and the pixel equivalent obtained is as the pixel equivalent after imaging system automatic Calibration.
It should be noted that, in above-described embodiment, motion platform moves 13 times is exemplary, and every more accurate number of times of the calculated value of pixel equivalent that can make all falls into protection scope of the present invention.But motion platform is in repeatedly motion process, at least comprise once along the non-fold return motion of X-axis with at least one times along the non-fold return motion of Y-axis, its objective is and avoid when calculating X-direction pixel equivalent or Y-direction pixel equivalent because the reasons such as the nuances such as camera installation, lens distortion produce the error of calculation.
Further, for making the calculating in return gap more accurate, after completing imaging system automatic Calibration, motion platform can be made between multiple position to do fold return motion.Wherein, motion platform repeatedly turn back after return gap be d=r||pt
1-pt
m||, wherein, pt
1for motion platform does the image coordinate of fixed reference feature unique point before fold return motion, pt
mfor the image coordinate of motion platform fixed reference feature unique point after doing m fold return motion.Wherein, m be more than or equal to 1 natural number.
As another preferred computing method, motion platform also can be made to move between multiple position, in the moving process of multiple positions, comprise multiple fold return motion.The distance of each fold return motion is utilized to carry out the calculating in return gap, then be averaged the value in the multiple return gaps obtained calculating, using the mean value that the obtains return gap as motion platform, thus improve the accuracy that return gap calculates, avoid return gap to the impact of demarcating.
Fig. 6 be according to a preferred embodiment for calculating return gap time motion platform the path profile that walks.As shown in Figure 6, motion platform according to
order move, take pictures at black real point place and carry out feature location.At ash point, do not take pictures in place.After motion platform moves, the pixel equivalent utilizing imaging system to demarcate to draw calculates the return gap of leading screw.Leading screw clearance measurement flow process as shown in Figure 7.
In the flow process shown in Fig. 7, when the position of motion platform motion does not reach 12, the instruction of movement need be performed always.When moving to the 12nd time, then motion platform stop motion.In 12 motions, 1st ~ 4 times motion platform moves in X-axis, in Y-axis motion, moves for 9th ~ 12 times around θ axle for 5th ~ 8 times.4 motion compositions, twice fold return motion of each axle, every twice fold return motion ensures the return clearance distance that between two positions of taking pictures, difference one is complete, after this utilizes the computing formula in return gap to calculate.
Because move twice fold return motion forming for 4 times of each axle could ensure well to differ between two positions of taking pictures a complete return clearance distance, therefore 12 motions are merely able to realize motion platform in the fold return motion at least one times of X-direction, the fold return motion at least one times of Y direction and the axial fold return motion at least one times of θ.It should be noted that, in above-described embodiment, motion platform moves 12 times is exemplary, uses the enforcement people of method described in the application also can carry out repeatedly fold return motion on each axis of orientation, to obtain more accurate return gap.The application does not limit for the times of exercise of motion platform.
From above technical scheme, screw mandrel gap scaling method described in the application by the distance map of two positions in motion platform in imaging system, and the distance of two positions in imaging system is associated with the distance of two positions on motion platform, realize imaging system automatic Calibration and calculate the pixel equivalent between motion platform and image collecting device.After motion platform carries out fold return motion, only need obtain distance in the picture before and after motion platform fold return motion, and utilize pixel equivalent can calculate return gap actual before and after motion platform fold return motion.Therefore, screw mandrel gap of the present invention scaling method has following features:
1, robotization: whole calibration process prosthetic is intervened, only needs to carry out simply communicating with kinetic control system realizing one-touch automatic measurement.
2, high precision: in scaling method of the present invention, framing arithmetic accuracy can reach sub-pixel, and overall precision determines primarily of the pixel equivalent of set up vision system (its parts comprise camera, camera lens etc.).
3, high efficiency: scaling method of the present invention, through verification experimental verification, carries out one-shot measurement (comprising an imaging system automatic Calibration) needs less than 1 minute.
Those skilled in the art, at consideration instructions and after putting into practice invention disclosed herein, will easily expect other embodiment of the present invention.The application is intended to contain any modification of the present invention, purposes or adaptations, and these modification, purposes or adaptations are followed general principle of the present invention and comprised the undocumented common practise in the art of the disclosure or conventional techniques means.Instructions and embodiment are only regarded as exemplary, and true scope of the present invention and spirit are pointed out by claim below.
Should be understood that, the present invention is not limited to exact method described above and illustrated in the accompanying drawings, and can carry out various amendment and change not departing from its scope.Scope of the present invention is only limited by appended claim.
Claims (5)
1. a screw mandrel return gap scaling method, is characterized in that, comprising:
Choose motion platform static time position be primary importance, fixed reference feature is set on the moving platform;
Above described motion platform, image collecting device is installed;
Utilize image collecting device to carry out image acquisition to the fixed reference feature on described motion platform, and record the first image coordinate P of described fixed reference feature unique point
1;
Motion platform is made to do non-fold return motion by primary importance to the second place; After described motion platform arrives the second place, described image collecting device carries out image acquisition to the fixed reference feature on described motion platform, and records the second image coordinate P of described fixed reference feature unique point
2;
The distance between the distance, delta l of motion platform primary importance and the second place and the first image coordinate and the second image coordinate is utilized to calculate pixel equivalent r, wherein,
After described pixel equivalent calculates, make motion platform do fold return motion, the alternate position spike according to the image coordinate before and after motion platform fixed reference feature unique point fold return motion calculates return gap d=r||pt
1-pt
2||, wherein, pt
1for motion platform is image coordinate, the pt of fixed reference feature unique point before fold return motion
2for motion platform does the image coordinate of fixed reference feature unique point after fold return motion, || pt
1-pt
2|| be the image distance of fold return motion RELATED APPLICATIONS character point.
2. scaling method according to claim 1, is characterized in that, calculate pixel equivalent r process in, described motion platform can do non-fold return motion between multiple position, described motion platform repeatedly non-turn back after pixel equivalent be
p
nfor the image coordinate of motion platform described fixed reference feature unique point after doing n non-fold return motion, wherein, n be more than or equal to 1 natural number.
3. scaling method according to claim 2, is characterized in that, described motion platform is at least one times along the non-fold return motion of X-axis with at least one times along the non-fold return motion of Y-axis.
4. scaling method according to claim 1, is characterized in that, described motion platform, when doing fold return motion, can repeatedly be turned back, described motion platform repeatedly turn back after return gap be d=r||pt
1-pt
m||, wherein, pt
mfor the image coordinate of motion platform described fixed reference feature unique point after doing m fold return motion, wherein, m be more than or equal to 1 natural number.
5. scaling method according to claim 4, is characterized in that, described motion platform is at least one times along the fold return motion of X-axis with at least one times along the fold return motion of Y-axis.
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