CN102549377A - Flat bed scan module, flat bed scan system, jig for measuring alignment errors of a flat bed scan module, and method for measuring alignment errors of a flat bed scan module using same - Google Patents
Flat bed scan module, flat bed scan system, jig for measuring alignment errors of a flat bed scan module, and method for measuring alignment errors of a flat bed scan module using same Download PDFInfo
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- CN102549377A CN102549377A CN201080023167XA CN201080023167A CN102549377A CN 102549377 A CN102549377 A CN 102549377A CN 201080023167X A CN201080023167X A CN 201080023167XA CN 201080023167 A CN201080023167 A CN 201080023167A CN 102549377 A CN102549377 A CN 102549377A
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
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Abstract
Disclosed are a flat bed scan module, a flat bed scan system, a jig for measuring alignment errors of the flat bed scan module, and a method for measuring alignment errors of the flat bed scan module using same. The flat bed scan module for scanning a shape of a flat panel comprises: a first laser beam oscillation unit and a second laser beam oscillation unit arranged at both ends of one side of a virtual quadrangle, respectively, to emit linear laser beams onto the flat panel; a third laser beam oscillation unit and a fourth laser beam oscillation unit arranged at both ends of the other side of a virtual quadrangle adjacent to said one side thereof, respectively, to emit linear laser beams onto the flat panel; a camera arranged at the center of the quadrangle to photograph the laser beams reflected by the flat panel; and a frame for supporting the first to fourth laser beam oscillation units and the camera. The flat bed scan module automatically scans the shape of the flat panel to reduce measurement errors.
Description
Technical field
The present invention relates to a kind of flat-bed scanning module, a kind of flat-bed scanning system, a kind ofly be used to measure the anchor clamps of flat-bed scanning module alignment error and utilize these anchor clamps to measure the method for flat-bed scanning module alignment error; More specifically, relate to and a kind ofly utilize the digital control mark can the dull and stereotyped method of shape of autoscan to reduce measuring error and the flat-bed scanning module of running time, flat-bed scanning system, to be used to measure the anchor clamps of flat-bed scanning module alignment error and to utilize this anchor clamps measurement flat-bed scanning module alignment error through the dull and stereotyped shape of autoscan.
Background technology
The hull construction parts through processing for example flat board, bent plate, directly cutting such as section and curved section steel and assembly parts form.
The mark machining information is referred to as " mark " with the accuracy of raising processing hull operation and the work of efficient on steel to be processed, to adopt lines and symbol to come in advance, and operations is carried out according to the information of this mark.
Common, utilize for example manual this mark of accomplishing of instrument such as the tape measure and the line of ink marker.Yet recently, flag data is handled through computer equipment, and comes to accomplish automatically mark through digital control (NC) mark machine.
Yet; Necessaryly in described digital control mark be; Also to utilize tape measure or the like to come artificial the setting and the instruction reference point, and therefore owing to manually-operated produces measuring error, in addition owing to come datum mark also to need the long running time through manually-operated.
For addressing the above problem, developed the laser vision system.This laser vision system is a kind of through being installed in the equipment that the welding torch front end of welding gear for example is used to measure the object of processing, and it can be used for welding torch is aimed at sealing wire.
This laser vision system with aim at installation such as process equipments such as welding gears.Yet, because extraneous factor comprises the vibration or the load that produce like operations such as welding, can change the established angle or the position of laser vision system, between this laser vision system and this process equipment, cause alignment error.
This laser vision system by the laser diodes generator that comprises emission of lasering beam and the video camera that is used to take this emitted laser bundle form.This laser diode and the installation aligned with each other of this video camera.Yet, as above describe, owing in practical operation, be applied in, therefore between this laser diode and this video camera, can produce alignment error like the load in the external worlds such as vibration.
If between the building block of laser vision system and process equipment and/or this laser vision system, have alignment error, the real data of measurement target and then through also having error between the measurement data of this laser vision systematic survey.Thereby, the very difficult reliability that guarantees this laser vision system.
Summary of the invention
Technical matters
The present invention provides a kind of flat-bed scanning module and dull and stereotyped scanning system, and it adopts can the autoscan dull and stereotyped shape of digital control mark to reduce measuring error and running time through the dull and stereotyped shape utilization of autoscan.
Further; The present invention provides a kind of anchor clamps and the method for utilizing this anchor clamps measurement alignment error that are used to measure alignment error; These anchor clamps can be checked between flat-bed scanning module and the target device and the alignment error between the laser generator of video camera and this flat-bed scanning module, and this measuring error of energy measurement.
Technical scheme
One aspect of the present invention is characterised in that the flat-bed scanning module; It can have: lay respectively at a virtual rectangle wherein on one side any end and be configured to first laser generator and second laser generator of flat board emission linear beam and lay respectively at this virtual rectangle the another side adjacent with said one side any end and be configured to the 3rd laser generator and the 4th laser generator to flat board emission linear beam; Be positioned at this rectangle central portion and be used to take video camera from the laser beam of this flat reflective; With the framework that is used to support this first to the 4th laser generator and this video camera.
From first to the 4th laser generator emitted laser bundle can be launched to the flat board below video camera.
The pitch angle of main shaft that favours the laser beam of camera optical axis can be regulated.
The linear beam of from first to the 4th laser generator emission can be launched with dull and stereotyped neighboring crossing.
If flat board has linear neighboring, this linear beam can intersect vertically with linear neighboring.
Another aspect of the present invention is characterised in that the flat-bed scanning system, and it comprises: the portal frame that moves along track; The scooter that moves along portal frame; Lay respectively at a virtual rectangle wherein on one side any end and be configured to first laser generator and second laser generator of flat board emission laser and lay respectively at this virtual rectangle the another side adjacent with said one side any end and be configured to the 3rd laser generator and the 4th laser generator to flat board emission laser; Be positioned at this rectangle central portion and be used to take video camera from the laser beam of this flat reflective; With the framework that is used to support this first to the 4th laser generator and this video camera and is connected with scooter.
From first to the 4th laser generator emitted laser bundle can be to the flat board emission of video camera below.
The pitch angle of main shaft that favours the laser beam of camera optical axis can be regulated.
The linear beam of from first to the 4th laser generator emission can be launched with dull and stereotyped neighboring crossing.
If flat board has linear neighboring, this linear beam can intersect vertically with linear neighboring.
The flat-bed scanning system also comprises the indexing unit that is used in the concrete shape of dull and stereotyped marked.
Another aspect of the present invention is characterised in that the anchor clamps of the alignment error of measuring the flat-bed scanning module; The a pair of laser generator emission linear beam of wherein from first laser generator, second laser generator, the 3rd laser generator and the 4th laser generator, selecting forms crossing beam, and the anchor clamps that are used to measure alignment error are measured the alignment error between the target device between this a pair of laser generator and the video camera and that flat-bed scanning module and dull and stereotyped scan module are mounted thereto.The anchor clamps that are used to measure alignment error can comprise: the par with tabular surface that crossing beam projects; With around this par and have a rake with this contacted dip plane of tabular surface.
Tabular surface can be square, the dip plane can comprise with each border of tabular surface contacted four trapezoidal.
Can be identical between four trapezoidal gradients that tilt from tabular surface.
Another aspect of the present invention is characterised in that, measures the method for the alignment error between the target device between this a pair of laser generator and the video camera and that flat-bed scanning module and dull and stereotyped scan module are mounted thereto through the anchor clamps of measuring alignment error.This method that is used to measure alignment error can comprise: when a pair of laser generator and video camera have been aimed at and worked as flat-bed scanning module and target device on time, project a pair of datum line that the par forms by crossing beam and obtain reference data through taking; When at least one the generation alignment error between a pair of laser generator and the video camera or between flat-bed scanning module and the target device, utilize video camera to project a pair of slotted line acquisition measurement data that the par forms through taking by crossing beam; With the error of calculating measurement data relative datum data through benchmark data and measurement data.
Reference data can comprise the first reference coordinate value of the two-end-point of every line in a pair of datum line; And measurement data can comprise the first measurement coordinate figure of the two-end-point of every line in a pair of slotted line.
Reference data also can comprise the second reference coordinate value of the central point of every line in a pair of datum line; And measurement data also can comprise the second measurement coordinate figure of the central point of every line in a pair of slotted line.
Reference data also can comprise the length of every line in a pair of datum line; And measurement data also can comprise the length of every line in a pair of slotted line.
Reference data also can comprise the degree of tilt of relative another datum line of a datum line in a pair of datum line; Measurement data also can comprise the degree of tilt of relative another slotted line of a slotted line in a pair of slotted line.
Reference data also can comprise the width of every line in a pair of datum line; Measurement data also can comprise the width of every line in a pair of slotted line.
Beneficial effect
The present invention can scan dull and stereotyped shape automatically to reduce measuring error.
In addition, through the dull and stereotyped shape of autoscan, the present invention is through reducing the running time at dull and stereotyped marked given shape.
Further, the present invention can check between flat-bed scanning module and the target device and the alignment error between the laser generator of video camera and this flat-bed scanning module, and this measuring error of energy measurement.
Description of drawings
Fig. 1 is the three-dimensional exploded view of flat-bed scanning module according to an embodiment of the invention.
Fig. 2 is the assembling stereogram of flat-bed scanning module according to an embodiment of the invention.
Fig. 3 is the vertical view of flat-bed scanning module according to an embodiment of the invention.
Fig. 4 is the stereographic map of flat-bed scanning system in accordance with another embodiment of the present invention.
Fig. 5 is the stereographic map of flat-bed scanning components of system as directed in accordance with another embodiment of the present invention.
Fig. 6-9 schematically illustrates employing flat-bed scanning system according to another embodiment of the present invention and how to scan flat board.
Figure 10 illustrates the anchor clamps that utilize the alignment error of measuring the flat-bed scanning module according to an embodiment of the invention and measures alignment error.
Figure 11 and 12 is respectively the vertical view and the front view of the anchor clamps of the alignment error of measuring the flat-bed scanning module according to an embodiment of the invention.
Figure 13 is the process flow diagram that the method for the alignment error that is used to measure the flat-bed scanning module in accordance with another embodiment of the present invention is shown.
Figure 14 illustrates the vertical view of the datum line when obtaining reference data in the method for the alignment error of measuring the flat-bed scanning module in accordance with another embodiment of the present invention.
Figure 15-the 18th, the vertical view of the slotted line when obtaining measurement data in the method for the alignment error of measuring the flat-bed scanning module in accordance with another embodiment of the present invention.
The explanation of key element
Embodiment
Below, with the flat-bed scanning module that illustrates and describes according to several embodiments of the present invention, the flat-bed scanning system is used to measure the anchor clamps of flat-bed scanning module alignment error, and utilizes these anchor clamps to measure the method for flat-bed scanning module alignment error.Be described with reference to the drawings when of the present invention, identical or corresponding element uses identical Reference numeral, and does not give unnecessary details.
Fig. 1 is the three-dimensional exploded view of flat-bed scanning module according to an embodiment of the invention, and Fig. 2 is the assembling stereogram of flat-bed scanning module according to an embodiment of the invention, and Fig. 3 is the vertical view of flat-bed scanning module according to an embodiment of the invention.Shown in Fig. 1-3 flat-bed scanning module 10, the first laser generators 12, the second laser generators 14, the three laser generators 16, the four laser generators 18 are arranged; Video camera 20, carriage 22, framework 24, lower box 26; Support member 28,32, opening 30,36 and upper box 34.
Flat-bed scanning module according to present embodiment is used to scan dull and stereotyped shape; And comprise: lay respectively at a virtual rectangle wherein on one side any end and to first laser generator 12 and second laser generator 14 of flat board emission linear beam and lay respectively at this rectangle the another side adjacent with said one side any end and to the 3rd laser generator 16 and the 4th laser generator 18 of flat board emission linear beam; Be used to take video camera 20 from the laser beam of this flat reflective; Be used to support this first to the 4th laser generator 12,14,, 16,18 and the framework 24 of this video camera 20, thereby the dull and stereotyped shape of autoscan and reduce measuring error.
Utilization is according to the flat-bed scanning module 10 as the following method scanning writing board shape of present embodiment.At first, launch with fixed intervals when flat-bed scanning module 10 laser beam when move this dull and stereotyped neighboring, this emitted laser bundle is taken pictures to obtain the image of this laser beam through video camera 20.Afterwards, through handling the as above image of described acquisition, this dull and stereotyped shape is scanned.
In other words, when the linear beam that is intersected by that launch and neighboring flat board during by flat reflective, the shape of this laser light reflected bundle is according to the corresponding change of shape of the neighboring of flat board, and takes the shape that laser beam change through video camera 20 and obtain image.
Scan dull and stereotyped peripheral shape according to the flat-bed scanning module 10 of present embodiment through moving along rectilinear direction or with direction that this rectilinear direction intersects vertically.
In order to scan dull and stereotyped peripheral shape; First laser generator 12 and second laser generator 14 lay respectively at wherein any end on one side of a virtual rectangle, and the 3rd laser generator 16 and the 4th laser generator 18 lay respectively at any end of the another side adjacent with said one side of this virtual rectangle.Through above-mentioned configuration, first laser generator 12 and the 3rd laser generator 16 are set to located adjacent one another.
In addition, the 3rd laser generator 16 and the 4th laser generator 18 partner, to the neighboring emission of lasering beam of toward each other flat board.
Simultaneously, can regulate the pitch angle of the laser beam main shaft of the optical axis that favours video camera.For this reason, can laser generator 12,14,16,18 be connected to framework 24 through the carriage 22 that utilization has an adjustable pitch angle.
Describe in detail with reference to Fig. 7 and 9, this pitch angle can be defined as by the optical axis 21 of video camera and to dull and stereotyped 46 emissions and virtual of being incident upon that linear beam 13 on dull and stereotyped 46 defines with by be incident upon flat board 46 on linear beam 13 and virtual the formed angle that defines by the main shaft 15 of laser generator 12,14 emitted laser bundles.Size through carriage 22 these pitch angle of scalable.
The laser beam of launching from laser diode forms this linear beam through optical processing along the both direction emission.The dummy line of the emission angle of this linear beam of five equilibrium can be defined as the main shaft 15 of this linear beam.
Owing to can regulate the width of the linear beam 13 that projects flat board 46 through regulating the pitch angle, therefore can be easy to obtain image through video camera 20.For example, if the narrow width on inclined-plane 47 and pitch angle are sharply precipitous, the image that obtains linear beam 13 through video camera 20 can have lower resolution.In this case, through increasing the pitch angle, the feasible image that obtains this laser beam more easily thereby the linear beam 13 of trend of purchasing dull and stereotyped 46 can broaden.
Through a plurality of support members 28,32 lower box 26, framework 24 and upper box 34 are connected mutually with protection flat-bed scanning module 10.
Be formed with opening 30 with laser generator 12,14,16,18 corresponding positions on the lower box 26, laser beam is through opening 30 emissions.
In addition, on upper box 34, be formed with opening 36 to link to each other with miscellaneous equipment, miscellaneous equipment can link to each other with framework 24 through this opening 36.
In another embodiment, if dull and stereotyped have straight neighboring, can launch the linear beam that intersects vertically with this straight neighboring.If dull and stereotyped is polygon and the neighboring that therefore has different directions, can shines and the linear beam of neighboring, thereby make shooting function shooting laser light reflected bundle in each direction square crossing.
Fig. 4 is the stereographic map of flat-bed scanning system in accordance with another embodiment of the present invention, and Fig. 5 is the stereographic map of flat-bed scanning components of system as directed in accordance with another embodiment of the present invention.Having shown in Fig. 4 and Fig. 5, flat-bed scanning module 10, track 38, portal frame 40, scooter track 42, scooter 44, flat board 46, retainer 48, rectangular frame 50, connecting link 52, web member 54 and indexing unit 56.
According to the flat-bed scanning system of present embodiment is to be used to scan dull and stereotyped 46 shape and comprise: the portal frame 40 that moves along track 38; The scooter 44 that moves along portal frame 40; Lay respectively at a virtual rectangle wherein on one side any end and to first laser generator and second laser generator of dull and stereotyped 46 emission linear beams; Lay respectively at this virtual rectangle the another side adjacent with said one side any end and to the 3rd laser generator and the 4th laser generator of dull and stereotyped 46 emission linear beams; Shooting is from the video camera 20 of these flat board 46 laser light reflected bundles 13 (referring to Fig. 7); Support first to the 4th laser generator and video camera 20 and be connected to the framework of scooter 44, thus the shape of autoscan flat board 46 and reduce measuring error.
According to the flat-bed scanning system of present embodiment through will before the flat-bed scanning module 10 described be attached at and scan dull and stereotyped 46 shape on the portal frame automaton, this portal frame automaton comprises portal frame 40 that moves along track 38 and the scooter 44 that moves along portal frame 40.
In the description of present embodiment, the description of any element identical with the flat-bed scanning module of describing before 10 will no longer repeat.
The portal structures of portal frame 40 for moving along two parallel orbits 38, the removable movable pulley that scooter 44 moves for the length direction along portal frame 40.Can be with multiple device, surveying instrument, welding machine and cutting tool etc. such as being moved to a certain position on the plane through mobile gantry frame 40 and scooter 44 are attached on the scooter 44.
Present embodiment is attached to through the flat-bed scanning module 10 that will describe before and scans dull and stereotyped 46 shape on the scooter 44.
Be attached in the method for shape of flat-bed scanning module 10 scanning dull and stereotyped 46 of this scooter 44 in utilization; Make flat-bed scanning module 10 when move dull and stereotyped 46 neighboring through mobile gantry frame 40 and scooter 44; Linear beam is at first launched from the laser generator of this flat-bed scanning module 10; Then, video camera 20 is taken this laser beam from dull and stereotyped 46 reflections to obtain image.Then, the image that obtains is changed into view data, and obtain dull and stereotyped 46 shape through handling this view data scanning.
The video camera of flat-bed scanning module 10 places the top of the neighboring of flat board to be scanned 46, and takes the reflected image of the linear beam that launch from laser generator and neighborings dull and stereotyped 46 intersects.
Be located at first laser generator and second laser generator on the horizontal direction (directions X of Fig. 4), launch linear beam respectively to scan vertical neighboring of flat board to be scanned 46.Be located at the 3rd laser generator and the 4th laser generator on the vertical direction (the Y direction of Fig. 4), launch linear beam respectively with the neighboring on the horizontal direction that scans flat board to be scanned 46.
In the present embodiment, retainer 48 is connected to scooter 44 with flat-bed scanning module 10, and it is made up of rectangular frame 50 and connecting link 52, and connecting link 52 stretches out from two bottoms of this rectangular frame 50.
The face and the scooter 44 of this rectangular frame 50 couple; And utilize that web member 54 will be from the connecting link 52 that stretch out at the another side both ends of rectangular frame 50 one be connected with flat-bed scanning module 10, and another in the connecting link 52 is connected with the indexing unit that will be described below 56.The opening 36 of the upper box 34 through flat-bed scanning module 10, web member 54 is connected on the framework 24, thereby framework 24 is connected with scooter 44.
Flat-bed scanning system according to present embodiment scans dull and stereotyped 46 shape except being attached to through the flat-bed scanning module 10 that will describe before on the portal frame automaton; Also utilize the indexing unit 56 be attached on the scooter 44 can be in the concrete shape of dull and stereotyped 46 marked, this portal frame automaton comprises portal frame 40 that moves along track 38 and the scooter 44 that moves along portal frame 40.
The flat board 46 that is used to form hull will be put on the welding position of various longitudinal components and the cutting position on the flat board 46, and utilize the for example Transmission Part of mark dull and stereotyped 46, flat board 46 will be loaded into the bottom of portal frame 40.
In case dull and stereotyped 46 are loaded, and a reference point that is used for mark need be set.For this reason, utilize the shape of flat-bed scanning module 10 scannings dull and stereotyped 46 that are attached to scooter 44.According to the shape of this scanning dull and stereotyped 46, utilize indexing unit 56 that the welding position of stave and the given shape of cutting position are marked on dull and stereotyped 46.
In case use flat-bed scanning module 10 to scan dull and stereotyped 46 shape, the particular location of this flat board 46 is set a coordinate, through this coordinate, the mark welding torch moves with this concrete shape of mark on this flat board 46.
Shape at plate 46 is under the predictable situation, can reference point be set through the concrete zone of scanning dull and stereotyped 46 neighborings.For example, if concrete shape is to be marked on the rectangular slab 46, only the apex region of scan rectangle dull and stereotyped 46 is a coordinate with the set positions with the summit, comes this given shape of mark through the mark welding torch then.
Since can the mark welding torch be moved to an ad-hoc location on dull and stereotyped 46 through mobile gantry frame 40 and scooter 44, therefore in this way, can be in the concrete shape of dull and stereotyped 46 marked.
Although utilize in the present embodiment the mark welding torch serve as a mark unit 56 with concrete shape mark on dull and stereotyped 46, also can be to use different modes simultaneously, the mark that for example punches is drawn (painting) and is waited concrete shape mark to flat board 46.
Fig. 6-9 schematically illustrates employing flat-bed scanning system according to another embodiment of the present invention and how to scan flat board.Shown in Fig. 6-9 flat-bed scanning module 10, first laser generator 12, second laser generator 14, main shaft 15, the 3rd laser generator 16, the 4th laser generator 18, video camera 20, optical axis 21, dull and stereotyped 46 and inclined-plane 47 arranged.
Fig. 6 and Fig. 7 are for describing the method for vertical neighboring of first laser generator, 12 scannings dull and stereotyped 46 of (directions X among Fig. 4) in the horizontal direction that is provided with of utilizing.In order to scan dull and stereotyped 46 neighboring, left side, video camera 20 places the top of neighboring, left side, and flat-bed scanning module 10 moves along the neighboring, left side.When flat-bed scanning module 10 moved, first laser generator 12 was launched laser beam with fixed intervals, and video camera 20 is taken and is incident upon on dull and stereotyped 46 and by the linear beam 13 of its reflection.The linear beam of launching from first laser generator 12 13 intersects with vertical neighboring of dull and stereotyped 46, and the shape of linear beam 13 changes according to the shape of the neighboring of flat board 46, and the shape of taking the change of laser beam 13 through video camera 20 obtains image.For example, if inclined-plane 47 be formed on dull and stereotyped 46 neighboring be used for welding should flat board 46, can laser beam 13 be taken into curve form as shown in Figure 7, if flat-bed scanning module 10 places on the platform of dull and stereotyped 46 outside, with the laser beam of shooting wire.Therefore, can the shape of this flat board 46 from the image scanning of the laser beam 13 of taking.
Fig. 8 and Fig. 9 are used for describing the method for vertical neighboring of second laser generator, 14 scannings dull and stereotyped 46 of (Fig. 4 directions X) in the horizontal direction that is provided with of utilizing.In order to scan the neighboring, right side of flat board 46, utilize scooter 44 that flat-bed scanning module 10 is moved towards dull and stereotyped 46 neighboring, right side.When flat-bed scanning module 10 when move the neighboring, right side, second laser generator 14 is launched linear beam 13, the linear beam 13 that video camera 20 photographs reflection is with the shape of the neighboring, right side that scans this flat board 46.
Like this, first laser generator 12 and second laser generator 14 partner mutually, respectively to vertical neighboring emission of lasering beam 13 toward each other of dull and stereotyped 46.
The 3rd laser generator 16 and the 4th laser generator 18 that are arranged on the vertical direction (Y direction among Fig. 4) are used to scan dull and stereotyped 46 horizontal neighboring; The 3rd laser generator 16 and the 4th laser generator 18 partner mutually, respectively to dull and stereotyped 46 horizontal neighboring emission of lasering beam 13 toward each other.
Utilize the method for the 3rd laser generator 16 and 18 scannings dull and stereotyped 46 of the 4th laser generator similar, therefore no longer be repeated in this description at this with the method for describing before of utilizing first laser generator 12 and 14 scannings dull and stereotyped 46 of second laser generator.
Although described the shape of scan rectangle dull and stereotyped 46 in the present embodiment; But can will be appreciated that the flat board 46 of other different shape; Comprise circular and polygon etc.; Also can be scanned, because as above described, utilize first laser generator 12 and second laser generator 14 can scan vertical neighboring of dull and stereotyped 46 and utilize the 3rd laser generator 16 and the 4th laser generator 18 can scan horizontal neighboring.
Figure 10 illustrates and utilizes the anchor clamps of the alignment error of measuring the flat-bed scanning module to measure alignment error according to an embodiment of the invention.
As shown in Figure 10, anchor clamps that are used to measure the alignment error of flat-bed scanning module 10 are provided in the present embodiment, it comprises par 120 and rake 130.
The anchor clamps 110 of said measurement alignment error are used to measure the alignment error between flat-bed scanning module 10 and the target device 105, and wherein the flat-bed scanning module is installed on the target device.In addition, the anchor clamps 110 of said measurement alignment error are used for the alignment error between Laser Measurement generator and the video camera, and laser generator and video camera are the parts of flat-bed scanning module 10.
Described the concrete configuration of flat-bed scanning module 10 in the above, therefore no longer be repeated in this description at this.
From before a pair of laser generator emission linear beam selected first laser generator, second laser generator, the 3rd laser generator and the 4th laser generator of the flat-bed scanning module 10 described form crossing beam, video camera is taken this crossing beam that projects on the anchor clamps 110 of measuring alignment error.
First laser generator and the 3rd laser generator can form a pair of to form this crossing beam each other, and second laser generator and the 4th laser generator can form a pair of to form this crossing beam each other.In addition, first laser generator and the 4th laser generator can form a pair of to form this crossing beam each other, and second laser generator and the 3rd laser generator can form a pair of to form this crossing beam each other.
According to present embodiment; Image through video camera is taken is imported into controller (not shown); This controller is measured coordinate figures and such as the reference data and the measurement data such as length, degree of tilt and width of datum line and slotted line (being incident upon the crossing beam images displayed on the par 120), can be calculated alignment error through the first and second reference coordinate values of stating after from the datum line of image and slotted line, extracting, first and second.
Like this, according to present embodiment, can check the alignment error between flat-bed scanning module 10 and the target device 105, and can easily measure the grade of this alignment error.In addition, the alignment error between a pair of laser generator of video camera and dull and stereotyped scan module 10 can be checked, and the grade of this alignment error can be easily measured.
Figure 11 and 12 is respectively the vertical view and the front view of the anchor clamps of the alignment error of measuring the flat-bed scanning module according to an embodiment of the invention.
Shown in Figure 10-12, par 120 has the tabular surface that crossing beam projects.In other words, the crossing beam that a pair of laser generator of selecting from first to the 4th laser generator produces projects on the dip plane of tabular surface and rake 130 of this par 120 with at the surface of this par 120 formation datum line and slotted line.
Thereby; Crossing beam from a pair of laser generator projection; Datum line and slotted line can be shown as straight line on par 120, can more accurately obtain reference data and the measurement data when the alignment error of flat-bed scanning module takes place when this flat-bed scanning module alignment so respectively.
In this case, the tabular surface of par 120 is a square, shown in Figure 10-12.Because this par 120 has square surface, thus punctual when 10 pairs of this flat-bed scanning modules, and a pair of datum line that is presented on this par 120 has identical length, makes more easily to calculate alignment error.
The dip plane of rake 130 can comprise that four borders with this tabular surface are contacted trapezoidal, shown in Figure 10-12.As stated, because the tabular surface of par 120 is a square, contact with square tabular surface separately by four trapezoidal dip plane that form.
Same, shown in Figure 10-12, all four trapezoidal has the identical gradient that tilts from this tabular surface.In other words, the trapezoidal dip plane of rake 130 tilts from this tabular surface with identical angle.
As a result, shown in Figure 10-12, be embodied as the shape of tack pyramid according to the anchor clamps 110 that are used to measure alignment error of present embodiment with square base.Thereby the anchor clamps 110 that are used to measure alignment error are horizontal and vertical symmetry, make and can check the alignment error of flat-bed scanning module 10 with being more prone to and more accurately measure alignment error.
Hereinafter, with the method for describing according to another embodiment of the invention of alignment error that is used to measure the flat-bed scanning module.
Figure 13 is the process flow diagram that the method for the alignment error that is used to measure the flat-bed scanning module in accordance with another embodiment of the present invention is shown.
With reference to Figure 10 and 13; The method of alignment error that is used to measure the flat-bed scanning module according to present embodiment; Between the anchor clamps 110 Laser Measurement generators of the measurement alignment error of describing before it utilizes and the video camera and the alignment error between flat-bed scanning module 10 and the target device 105; Can may further comprise the steps: when the flat-bed scanning module alignment, obtain reference data; When the alignment error of flat-bed scanning module occurs, obtain measurement data, and calculate the error of this measurement data with respect to this reference data.
According to present embodiment, can check the alignment error between flat-bed scanning module 10 and the target device 105, and the grade that can easily measure this alignment error.In addition, can check the alignment error between the laser generator of video camera and dull and stereotyped scan module 10, and the grade that can easily measure this alignment error.
More specifically; In the method for alignment error that is used for measuring the flat-bed scanning module according to present embodiment; Respectively; When laser generator and camera and flat-bed scanning module 10 were aimed at target device 105, the anchor clamps 110 that are used to measure alignment error were at first aimed at (S110) with target device 105.
In this case, reference point (fiducial point) aligned units (not shown) can be located at the anchor clamps 110 that are used to measure alignment error rake 130 in a lateral direction.Therefore, through utilizing this reference point aligned units, the anchor clamps 110 that are used to measure alignment error can more effectively be aimed at target device 105.
Then, when laser generator and video camera and flat-bed scanning module 10 are all aligned with each other with target device 105, taken with acquisition reference data (S120) by video camera by a pair of datum line that the crossing beam that projects tabular surface 120 forms.
Figure 14 illustrates the vertical view of the datum line when obtaining reference data in the method for the alignment error of measuring the flat-bed scanning module in accordance with another embodiment of the present invention.
Shown in figure 14, the image that photographs through video camera shows a pair of datum line 150a, 150b, and it projects tabular surface 120 by crossing beam and forms.Thereby, from these datum lines 150a, 150b, can extract reference data.Here, this reference data can comprise the first reference coordinate value, the second reference coordinate value, and the length of this datum line and degree of tilt.
The first reference coordinate value is meant four end points a1, a2, the b1 of a pair of datum line 150a, 150b, the two-dimensional coordinate value of b2.Shown in figure 14,110 bendings of anchor clamps that are formed on the measured alignment error of image on the anchor clamps 110 that are used to measure alignment error by crossing beam are to form specified point.Thereby the two-dimensional coordinate value of four end points a1, a2, b1, b2 that obtains this a pair of datum line 150a, 150b is as the first reference coordinate value.
The second reference coordinate value is meant the two-dimensional coordinate value of the central point of this a pair of datum line 150a, 150b.This second reference coordinate value can utilize the above-mentioned first reference coordinate value to calculate.
For example, two end points a1 among datum line 150a, the two-dimensional coordinate value of a2 are the first reference coordinate value.The intermediate point that in this case, can obtain this first reference coordinate value is as this second reference coordinate value.
Through utilizing the first above-mentioned reference coordinate value also can calculate length and the degree of tilt of a pair of datum line 150a, 150b.For example; Can obtain distance between two the first reference coordinate values of two end points a1, a2 of a datum line 150a as the length of datum line 150a that should be relevant, and from these two first reference coordinate values can calculate as reference axis should be remaining the degree of tilt of datum line 150b.
In addition, the width of this a pair of datum line 150a, 150b can obtain from the said reference data.
Next; When between laser generator and the video camera and/or the alignment error between flat-bed scanning module and the target device when producing; Project a pair of slotted line 150c that par 120 forms by crossing beam, 150d is photographed to obtain this measurement data (S130) by video camera.
Like this, for obtaining this measurement data, as for the above-mentioned steps that obtains reference data, the anchor clamps 110 that need utilize the reference point aligned units will be used to measure alignment error are aimed at target device 105.Thereby the anchor clamps 110 that are used to measure alignment error can remain on a relative position with respect to this target device 105, this relative position the same obtaining when obtaining reference data.
Figure 15-the 18th, the vertical view of the slotted line when obtaining measurement data in the method for the alignment error of measuring the flat-bed scanning module in accordance with another embodiment of the present invention.
Shown in Figure 15-18, the image that video camera is taken has shown a pair of slotted line 150c, the 150d that projects formation on the par 120 through cross spider.Thereby, can extract from this slotted line 150c, 150d and obtain measurement data.At this, the same with reference data, this measurement data can comprise that first measures coordinate figure, and second measures coordinate figure, and the length of this slotted line and degree of tilt.
First measures the two-dimensional coordinate value of four end points c1 that coordinate figure is a pair of slotted line 150c, 150d, c2, d1, d2.Second measure coordinate figure be a pair of slotted line 150c, 150d central point the two-dimensional coordinate value and can measure coordinate figure and calculate through utilizing first.Also can measure length and the degree of tilt that coordinate figure calculates this a pair of slotted line 150c, 150d through utilizing first.In addition, the width of slotted line also can obtain from above-mentioned measurement data.
Next, through reference data is compared with measurement data, can calculate the error (S140) of this measurement data with respect to this reference data.Obtain reference data and measurement data and these data relatively through above-mentioned steps, can easily check out between flat-bed scanning module 10 (referring to Figure 10) and the target device 105 (referring to Figure 10) or laser generator and video camera between alignment error.
And, through calculating the error of this measurement data with respect to this reference data, can easily measure between flat-bed scanning module 10 (referring to Figure 10) and the target device 105 (referring to Figure 10) or laser generator and video camera between the grade of alignment error.
Further, through the data relevant, the easily fault in the verification laser generator in benchmark data and the measurement data with width.
With reference to Figure 14 and 15, the line length in the measurement data, degree of tilt and width all with reference data in identical, except there is the variation on the horizontal direction point of crossing in the reference data, the point of crossing of measurement data center line.
Through this, can verify that the central point of flat-bed scanning module 10 changes with respect to this target device in the horizontal direction.Thereby, can infer that flat-bed scanning module 10 not aim at this target device 105.
With reference to Figure 14 to 16, the width of the line in the measurement data is identical with the width of the reference data that obtains before.Yet the length of line and degree of tilt are different with reference data.That is, the length of a slotted line 150c is different with the length of corresponding datum line 150a, and the degree of tilt between degree of tilt between slotted line 150c and another slotted line 150d and a pair of datum line 150a, the 150b is different.
Through this, can verify that the angle (separation angle) that in laser generator, produces a pair of laser diode of crossing beam is out of shape from alignment.
With reference to Figure 14 and 17; The line length of this measurement data, line gradient and line width are identical with the reference data that obtains before; Yet, compare with Figure 14 images displayed by the image of above that slotted line 150c of video camera is taken and being used for of in Figure 17, showing measured alignment error anchor clamps 110 and a pair of projection, 150d and to have rotated certain angle.
Through this, can verify only has video camera to reverse from aligned position.
With reference to Figure 14 and 18, the width of a slotted line 150c among a pair of slotted line 150c, the 150d is littler than the width of corresponding datum line 150a.Through this, can verify a pair of laser diode in the laser generator in one damage or worsened.
So far; Several kinds of embodiments of the present invention have been described; But be to be appreciated that those skilled in the art can be easily be modified as the scope under the present invention with the present invention, any modification will be included in the technological thought of the present invention that limits through the Rights attached thereto requirement.
Claims (20)
1. flat-bed scanning module comprises:
First laser generator and second laser generator, said first laser generator and second laser generator lay respectively at a virtual rectangle wherein on one side any end and be configured to said dull and stereotyped emission linear beam;
The 3rd laser generator and the 4th laser generator, said the 3rd laser generator and the 4th laser generator lay respectively at said virtual rectangle the another side adjacent with said one side any end and be configured to said dull and stereotyped emission linear beam;
Video camera, it is positioned at said rectangle central portion and is configured to take the laser beam from said flat reflective; With
Framework, it is used to support said first to the 4th laser generator and the video camera.
2. module according to claim 1 wherein, is launched the said flat board of said video camera below from the laser beam that said first to the 4th laser generator is launched.
3. module according to claim 2, wherein, the pitch angle of main shaft that favours the said laser beam of said camera optical axis can be regulated.
4. according to each described module among the claim 1-3, wherein, launch with the neighboring of said flat board crossing from the linear beam that said first to the 4th laser generator is launched.
5. module according to claim 4, wherein, said flat board has linear neighboring, and this linear beam and said linear neighboring intersect vertically.
6. flat-bed scanning system comprises:
The portal frame that moves along track;
The scooter that the said portal frame in edge moves;
Lay respectively at a virtual rectangle wherein on one side any end and be configured to first laser generator and second laser generator to said dull and stereotyped emission linear beam;
Lay respectively at said virtual rectangle the another side adjacent with said one side any end and be configured to the 3rd laser generator and the 4th laser generator to said dull and stereotyped emission linear beam;
Be positioned at said rectangle central portion and be configured to take video camera from the laser beam of this flat reflective; With
The framework that is used to support said first to the 4th laser generator and this video camera and is connected with said scooter.
7. system according to claim 6 wherein, launches the said flat board of said video camera below from the laser beam that said first to the 4th laser generator is launched.
8. system according to claim 7, wherein, the pitch angle of main shaft that favours the said laser beam of said camera optical axis can be regulated.
9. according to each described system among the claim 6-8, wherein, launch with the neighboring of said flat board crossing from the linear beam that said first to the 4th laser generator is launched.
10. system according to claim 9, wherein, said flat board has linear neighboring, and this linear beam and said linear neighboring intersect vertically.
11. system according to claim 6 also comprises being connected to said scooter and being configured to the indexing unit in the concrete shape of said dull and stereotyped marked.
12. anchor clamps; Be used for measuring the alignment error of each described flat-bed scanning module of claim 1-5; The a pair of laser generator of from said first laser generator, second laser generator, the 3rd laser generator and the 4th laser generator, selecting is launched linear beam and is formed crossing beam; The said anchor clamps that are used to measure alignment error are configured to measure the alignment error between flat-bed scanning module between this a pair of laser generator and the said video camera and said and the said flat-bed scanning module target device mounted thereto, and these anchor clamps that are used to measure alignment error comprise:
The par, it has the tabular surface that said crossing beam projects; With
Rake, it is around this par and have the dip plane that is connected with this tabular surface.
13. anchor clamps according to claim 12, wherein said tabular surface are square, and
Wherein said dip plane comprise with each border of said tabular surface contacted four trapezoidal.
14. anchor clamps according to claim 13, four trapezoidal gradients that wherein tilt from said tabular surface are identical mutually.
15. anchor clamps that utilize each measurement alignment error among the claim 12-14 are measured the method for the alignment error between the target device between said a pair of laser generator and the video camera and that flat-bed scanning module and dull and stereotyped scan module are mounted thereto, this method comprises:
Aimed at and worked as said flat-bed scanning module and target device when said a pair of laser generator and video camera, obtained reference data through taking by a pair of datum line that forms to par emission crossing beam on time;
When at least one the generation alignment error between said a pair of laser generator and the video camera or between flat-bed scanning module and the target device, utilize video camera to obtain measurement data through taking by a pair of slotted line that forms to par emission crossing beam; And
Calculate the error of the said relatively reference data of said measurement data through more said reference data and measurement data.
16. method according to claim 15, wherein, said reference data comprises the first reference coordinate value of the two-end-point of every line in the said a pair of datum line, and
Wherein said measurement data comprises the first measurement coordinate figure of the two-end-point of every line in a pair of slotted line.
17. method according to claim 16, wherein, said reference data also comprises the second reference coordinate value of the central point of every line in the said a pair of datum line, and
Wherein said measurement data also comprises the second measurement coordinate figure of the central point of every line in the said a pair of slotted line.
18. method according to claim 16, wherein, said reference data also comprises the length of every line in the said a pair of datum line, and
Wherein said measurement data also comprises the length of every line in the said a pair of slotted line.
19. method according to claim 16, wherein, said reference data also comprises a datum line in the said a pair of datum line with respect to the degree of tilt of another datum line, and
Wherein said measurement data comprises that also a slotted line in the said a pair of slotted line is with respect to the degree of tilt of another slotted line.
20. method according to claim 16, wherein, said reference data also comprises the width of every line in the said a pair of datum line, and
Wherein said measurement data also comprises the width of every line in the said a pair of slotted line.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020090044333A KR101194756B1 (en) | 2009-05-21 | 2009-05-21 | Module for scanning plate and system for scanning plate |
| KR10-2009-0044333 | 2009-05-21 | ||
| KR10-2009-0074792 | 2009-08-13 | ||
| KR1020090074792A KR101168297B1 (en) | 2009-08-13 | 2009-08-13 | Apparatus For Measuring Alignment Error Of a Laser Vision System and Method For Measuring Alignment Error Of a Laser Vision System Using the Same |
| PCT/KR2010/002886 WO2010134709A2 (en) | 2009-05-21 | 2010-05-06 | Flat bed scan module, flat bed scan system, jig for measuring alignment errors of a flat bed scan module, and method for measuring alignment errors of a flat bed scan module using same |
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| CN102549377A true CN102549377A (en) | 2012-07-04 |
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| CN201080023167XA Pending CN102549377A (en) | 2009-05-21 | 2010-05-06 | Flat bed scan module, flat bed scan system, jig for measuring alignment errors of a flat bed scan module, and method for measuring alignment errors of a flat bed scan module using same |
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| Country | Link |
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| JP (2) | JP2012527611A (en) |
| CN (1) | CN102549377A (en) |
| WO (1) | WO2010134709A2 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2010134709A2 (en) | 2010-11-25 |
| WO2010134709A9 (en) | 2011-03-10 |
| JP2012527611A (en) | 2012-11-08 |
| WO2010134709A3 (en) | 2011-04-28 |
| JP2014059309A (en) | 2014-04-03 |
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