CN102794771A - Mechanical arm correction system and method - Google Patents
Mechanical arm correction system and method Download PDFInfo
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- CN102794771A CN102794771A CN2011101368178A CN201110136817A CN102794771A CN 102794771 A CN102794771 A CN 102794771A CN 2011101368178 A CN2011101368178 A CN 2011101368178A CN 201110136817 A CN201110136817 A CN 201110136817A CN 102794771 A CN102794771 A CN 102794771A
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Abstract
The invention discloses a mechanical arm correction system and a mechanical arm correction method. The system is used for acquiring correction parameters, controlling a mechanical arm to move and acquiring a first image plane center a; controlling the mechanical arm to move according to the distance between a first object to be detected and a second object to be detected, and acquiring a second image plane center b; calculating a vector A from the first image plane center a to the second image plane center b, and calculating a correction angle Phi according to the vector A and a vector Z; and adjusting a flange face axis vector Z of the mechanical arm according to the correction angle Phi so as to ensure that the flange face axis vector Z of the mechanical arm is perpendicular to planes on which the first object to be detected and the second object to be detected are located. By the mechanical arm correction system and the mechanical arm correction method, the mechanical arm can be automatically corrected.
Description
Technical field
The present invention relates to a kind of test macro and method, especially a kind of mechanical arm corrective system and method.
Background technology
Along with the development of electronic science and technology, (Printed Circuit Board PCB) has become the indispensable important component part of various electric equipments (like computer) to printed circuit board (PCB).Owing to transmit the microwave signal that ultra-high frequency is arranged in the circuit of printed circuit board (PCB),, just must when dispatching from the factory, the object characteristic (like impedance) to its part detect if will guarantee printed circuit board (PCB) reliability in use.
Along with the continuous progress of mechanical arm design, the test macro that has now can utilize the physical characteristic of part on the automatic testing printed circuit board of mechanical arm.But the system that utilizes mechanical arm to carry out automatic test at present all can't proofread and correct mechanical arm, causes measurement result inaccurate.
Summary of the invention
In view of above content, be necessary to provide a kind of mechanical arm corrective system, it can be proofreaied and correct mechanical arm automatically, and the flange face axle center vector that makes mechanical arm is perpendicular to the determinand plane.
In view of above content, also be necessary to provide a kind of mechanical arm bearing calibration, it can be proofreaied and correct mechanical arm automatically, and the flange face axle center vector that makes mechanical arm is perpendicular to the determinand plane.
A kind of mechanical arm corrective system runs in the master control computer, and this master control computer expert crosses the mechanical arm kinetic control system mechanical arm is controlled, and this system comprises:
Parameter acquisition module is used to obtain the distance L of flange face axle center vector Z, first object to be measured and second object to be measured of image distance H, the mechanical arm of the Image intake device of mechanical arm;
The first image plane center acquisition module is used to control mechanical arm and moves, and makes the image definition optimization of first object to be measured of Image intake device picked-up, and obtains the current image plane center of Image intake device, is designated as the first image plane center a;
The second image plane center acquisition module; Be used for distance L according to first object to be measured and second object to be measured; The control mechanical arm moves; Make the image definition optimization of second object to be measured of Image intake device picked-up, and obtain the current image plane center of Image intake device, be designated as the second image plane center b;
Proofread and correct the angle computing module, be used to calculate the vectorial A of the first image plane center a to the second image plane center b, and according to vectorial A and vector Z calculation correction angle φ; And
The mechanical arm adjusting module is used for according to proofreading and correct angle φ, and the flange face axle center vector Z of adjustment mechanical arm makes the flange face axle center vector Z of mechanical arm perpendicular to the plane at first object to be measured and the second object to be measured place.
A kind of mechanical arm bearing calibration is applied in the master control computer, and this master control computer expert crosses the mechanical arm kinetic control system mechanical arm is controlled, and this method comprises the steps:
The parameter acquiring step is obtained the distance L of flange face axle center vector Z, first object to be measured and second object to be measured of image distance H, the mechanical arm of the Image intake device of mechanical arm;
The first image plane center obtaining step, the control mechanical arm moves, and makes the image definition optimization of first object to be measured of Image intake device picked-up, and obtains the current image plane center of Image intake device, is designated as the first image plane center a;
The second image plane center obtaining step; Distance L according to first object to be measured and second object to be measured; The control mechanical arm moves; Make the image definition optimization of second object to be measured of Image intake device picked-up, and obtain the current image plane center of Image intake device, be designated as the second image plane center b;
Proofread and correct the angle calculation procedure, calculate the vectorial A of the first image plane center a to the second image plane center b, and according to vectorial A and vector Z calculation correction angle φ; And
The mechanical arm set-up procedure, according to proofreading and correct angle φ, the flange face axle center vector Z of adjustment mechanical arm makes the flange face axle center vector Z of mechanical arm perpendicular to the plane at first object to be measured and the second object to be measured place.
Preceding method can be carried out by electronic installation, and wherein this electronic installation has and attached one or more processors, memory and be kept at one or more modules, program or the instruction set that is used to carry out these methods in the memory.In certain embodiments, this electronic installation provides the multiple function that comprises radio communication.
The instruction that is used for carrying out preceding method can be included in and be configured to the computer program carried out by one or more processors.
Compared to prior art; Described mechanical arm corrective system and method can be proofreaied and correct mechanical arm automatically, and the flange face axle center vector that makes mechanical arm is perpendicular to the determinand plane; Avoid the wrong generation in mechanical arm location, improved test accuracy.
Description of drawings
Fig. 1 is the hardware structure figure of mechanical arm corrective system of the present invention preferred embodiment.
Fig. 2 is the structural representation of master control computer among Fig. 1.
Fig. 3 is the functional block diagram of the corrective system of mechanical arm shown in Fig. 1.
Fig. 4 A and Fig. 4 B are the flow charts of mechanical arm bearing calibration preferred embodiment of the present invention.
Fig. 5 is the image plane of Image intake device and the plane of the relation of the position between the element under test.
Fig. 6 is the image plane of Image intake device and the stereogram of the relation of the position between the element under test.
The main element symbol description
| The |
20 |
| The mechanical arm |
21 |
| |
22 |
| |
23 |
| |
24 |
| |
25 |
| The mechanical arm |
31 |
| Mechanical |
32 |
| |
33 |
| Fixture | 34 |
| Digital image acquisition control system | 41 |
| Digital image |
42 |
| |
43 |
| Printed circuit board (PCB) | 60 |
| Tester table | 70 |
| |
201 |
| The first image plane |
202 |
| The second image plane |
203 |
| Proofread and correct the |
204 |
| The mechanical |
205 |
The following specific embodiment will combine above-mentioned accompanying drawing to further specify the present invention.
The specific embodiment
As shown in Figure 1, be the system architecture diagram of mechanical arm corrective system of the present invention preferred embodiment, these mechanical arm corrective system 21 systems run in the master control computer 20.Wherein, said master control computer 20 is connected with mechanical arm kinetic control system 31, digital image acquisition control system 41.This mechanical arm kinetic control system 31 is controlled through 32 pairs of mechanical arms 33 of mechanical arm control channel, and this digital image acquisition control system 41 controls through 42 pairs of Image intake devices 43 of digital image acquisition control channel.This Image intake device 43 is installed on the mechanical arm 33 through fixture 34.Wherein, said mechanical arm 33 can be joint type or non-joint type mechanical arm.
In the present embodiment, this mechanical arm control channel 32 can be communication cable with digital image acquisition control channel 42, and this fixture 34 is installed in the compound support of flange face before the mechanical arm 33.This Image intake device 43 can be a digital camera, is used to absorb the object image to be measured on the printed circuit board (PCB) 60, and said printed circuit board (PCB) 60 is positioned on the tester table 70.Be appreciated that in other embodiments said printed circuit board (PCB) 60 also can use other electronic equipment to substitute.
Consult shown in Figure 2ly, this master control computer 20 comprises mechanical arm corrective system 21, display device 22, memory 23, input equipment 24 and the processor 25 that links to each other through data/address bus.
Said memory 23 is used to store the data such as program code of said mechanical arm corrective system 21.Said display device 22 and input equipment 24 are used as the input-output equipment of master control computer 20.
Said mechanical arm corrective system 21 is used for automatically mechanical arm 33 being proofreaied and correct, and the flange face axle center vector that makes mechanical arm 33 is described below the detailed process perpendicular to the determinand plane.
In the present embodiment; Said mechanical arm corrective system 21 can be divided into one or more modules; Said one or more module is stored in the said memory 23 and is configured to and carried out by one or more processors (present embodiment is a processor 25), to accomplish the present invention.For example; Consult shown in Figure 3ly, said mechanical arm corrective system 21 is divided into parameter acquisition module 201, the first image plane center acquisition module 202, the second image plane center acquisition module 203, proofreaies and correct angle computing module 204 and mechanical arm adjusting module 205.The alleged module of the present invention is to accomplish the block of a specific function, is more suitable for below will combining the flow chart of Fig. 4 that the function of each module is described in describing the implementation of software in master control computer 20 than program.
Shown in Fig. 4 A and Fig. 4 B, be the flow chart of mechanical arm bearing calibration preferred embodiment of the present invention.
Step S10, parameter acquisition module 201 is obtained the distance L of first object to be measured and second object to be measured on the flange face axle center vector Z, printed circuit board (PCB) 60 of image distance H, the mechanical arm 33 of Image intake device 43.Wherein, image distance H is meant the distance between the lens centre that looks like Image intake device 43.Consult Fig. 5 and shown in Figure 6, p1 represents first object to be measured, and on behalf of the second generation, p2 survey object.
Step S11 keeps vector Z constant, and the first image plane center acquisition module, 202 control mechanical arms 33 move, and the determinand spare p1 that wins is got in the image plane of Image intake device 43.In the present embodiment, the shallow depth of field (the Shallow Depth of Field) image of the Image intake device 43 picked-ups first object p1 to be measured.In other embodiments, Image intake device 43 also can absorb other image of the first object p1 to be measured, like the big depth of field (Large Depth of Field) image.
Step S12; The first image plane center acquisition module 202 adjustment mechanical arms 33 make the determinand spare p1 that wins be positioned at the field depth of Image intake device 43, and image degree of the comparing Histogram statistics analysis of Image intake device 43 picked-ups is made the image definition optimization of the determinand spare p1 that wins.Wherein, contrast is meant the ratio of picture B&W, just from deceiving to white gradual change level.Ratio is big more, and from black just many more to white gradual change level, thereby color representation is abundant more.Contrast is very crucial to the influence of visual effect, and in general contrast is big more, and image is clear more eye-catching, and color is also distinct more gorgeous; And contrast is little, then can let whole image all dusky.
Step S13,202 couples first object p1 to be measured of the first image plane center acquisition module carry out the contour edge analysis, obtain the imagery coverage center p (consulting Fig. 5 and shown in Figure 6) of this first object p1 to be measured.
Step S14, the first image plane center acquisition module 202 make the imagery coverage center p of the determinand spare p1 that wins overlap with the image plane center of Image intake device 43 according to the image plane direction mechanically moving arm 33 of Image intake device 43.
Step S15; The first image plane center acquisition module, 202 adjustment mechanical arms 33; And image degree of the comparing Histogram statistics analysis of again Image intake device 43 being absorbed makes the image definition optimization of the determinand spare p1 that wins; And obtain the current image plane center of Image intake device 43, be designated as the first image plane center a (consulting Fig. 5 and shown in Figure 6).
Step S16, the position coordinates of the first image plane center acquisition module, 202 this first image plane of storage center a and striograph shelves to the memory 23 of the first object p1 to be measured.
Step S17; Keep vector Z constant; The second image plane center acquisition module 203 is according to the distance L of the first object p1 to be measured and the second object p2 to be measured, and control mechanical arm 33 moves, and makes the second object p2 to be measured get in the image plane of Image intake device 43.In the present embodiment, the shallow depth of field (the Shallow Depth of Field) image of the Image intake device 43 picked-ups second object p2 to be measured.In other embodiments, Image intake device 43 also can absorb other image of the second object p2 to be measured, like the big depth of field (Large Depth of Field) image.
Step S18; The second image plane center acquisition module 203 adjustment mechanical arms 33 make the second object p2 to be measured be positioned at the field depth of Image intake device 43, and image degree of the comparing Histogram statistics analysis of Image intake device 43 picked-ups is made the image definition optimization of the second object p2 to be measured.
Step S19,203 couples second object p2 to be measured of the second image plane center acquisition module carry out the contour edge analysis, obtain the imagery coverage center q (consulting Fig. 5 and shown in Figure 6) of this second object p2 to be measured.
Step S20, the second image plane center acquisition module 203 make the imagery coverage center q of the second object p2 to be measured overlap with the image plane center of Image intake device 43 according to the image plane direction mechanically moving arm 33 of Image intake device 43.
Step S21; The second image plane center acquisition module, 203 adjustment mechanical arms 33; And again image degree of the comparing Histogram statistics analysis of Image intake device 43 picked-up is made the image definition optimization of the second object p2 to be measured; And obtain the current image plane center of Image intake device 43, be designated as the second image plane center b (consulting Fig. 5 and shown in Figure 6).
Step S22, the position coordinates of the second image plane center acquisition module, 203 this second image plane of storage center b and striograph shelves to the memory 23 of the second object p2 to be measured.
Step S23 proofreaies and correct angle computing module 204 and calculates the vectorial A (consult shown in Figure 5) of the first image plane center a to the second image plane center b.
Step S24 proofreaies and correct angle computing module 204 according to vectorial A and vector Z calculation correction angle φ, and wherein, correction angle φ equals 90 degree and deducts the angle (consulting shown in Figure 5) between vectorial A and the vector Z.
Step S25, mechanical arm adjusting module 205 be according to proofreading and correct angle φ, and the flange face axle center vector Z of adjustment mechanical arm 33 makes the flange face axle center vector Z of mechanical arm 33 perpendicular to the plane at the first object p1 to be measured and the second object p2 to be measured place.In the present embodiment, the plane at the first object p1 to be measured and the second object p2 to be measured place is the plane of printed circuit board (PCB) 60.
Particularly; Mechanical arm adjusting module 205 turns clockwise the flange face axle center vector Z of mechanical arm 33 and proofreaies and correct angle φ; Make vector Z be parallel to the normal vector N on the first object p1 to be measured and plane, the second object p2 to be measured place, thereby make the flange face axle center vector Z of mechanical arm 33 perpendicular to the plane at the first object p1 to be measured and the second object p2 to be measured place.
What should explain at last is; Above embodiment is only unrestricted in order to technical scheme of the present invention to be described; Although the present invention is specified with reference to preferred embodiment; Those of ordinary skill in the art should be appreciated that and can make amendment or be equal to replacement technical scheme of the present invention, and do not break away from the spirit and the scope of technical scheme of the present invention.
Claims (10)
1. a mechanical arm corrective system runs in the master control computer, and this master control computer expert crosses the mechanical arm kinetic control system mechanical arm is controlled, and it is characterized in that, this system comprises:
Parameter acquisition module is used to obtain the distance L of flange face axle center vector Z, first object to be measured and second object to be measured of image distance H, the mechanical arm of the Image intake device of mechanical arm;
The first image plane center acquisition module is used to control mechanical arm and moves, and makes the image definition optimization of first object to be measured of Image intake device picked-up, and obtains the current image plane center of Image intake device, is designated as the first image plane center a;
The second image plane center acquisition module; Be used for distance L according to first object to be measured and second object to be measured; The control mechanical arm moves; Make the image definition optimization of second object to be measured of Image intake device picked-up, and obtain the current image plane center of Image intake device, be designated as the second image plane center b;
Proofread and correct the angle computing module, be used to calculate the vectorial A of the first image plane center a to the second image plane center b, and according to vectorial A and vector Z calculation correction angle φ; And
The mechanical arm adjusting module is used for according to proofreading and correct angle φ, and the flange face axle center vector Z of adjustment mechanical arm makes the flange face axle center vector Z of mechanical arm perpendicular to the plane at first object to be measured and the second object to be measured place.
2. mechanical arm corrective system as claimed in claim 1 is characterized in that, the said first image plane center acquisition module obtains the first image plane center a and comprises:
Keep vector Z constant, the control mechanical arm moves, and the determinand spare of winning is got in the image plane of Image intake device;
The adjustment mechanical arm makes the determinand spare of winning be positioned at the field depth of Image intake device, and to image degree of the comparing Histogram statistics analysis that Image intake device absorbs, makes the image definition optimization of the determinand spare of winning;
First object to be measured is carried out the contour edge analysis, obtain the imagery coverage center of this first object to be measured;
According to the image plane direction mechanically moving arm of Image intake device, the imagery coverage center of the determinand spare of winning is overlapped with the image plane center of Image intake device;
The adjustment mechanical arm; And image degree of the comparing Histogram statistics analysis of again Image intake device being absorbed; Make the image definition optimization of the determinand spare of winning, and obtain the current image plane center of Image intake device, be designated as the first image plane center a; And
Store the memory of striograph shelves to master control computer of position coordinates and first object to be measured of this first image plane center a.
3. mechanical arm corrective system as claimed in claim 1 is characterized in that, the said second image plane center acquisition module obtains the second image plane center b and comprises:
Keep vector Z constant, according to the distance L of first object to be measured and second object to be measured, the control mechanical arm moves, and makes second object to be measured get in the image plane of Image intake device;
The adjustment mechanical arm makes second object to be measured be positioned at the field depth of Image intake device, and to image degree of the comparing Histogram statistics analysis of Image intake device picked-up, makes the image definition optimization of second object to be measured;
Second object to be measured is carried out the contour edge analysis, obtain the imagery coverage center of this second object to be measured;
According to the image plane direction mechanically moving arm of Image intake device, make the imagery coverage center of second object to be measured overlap with the image plane center of Image intake device;
The adjustment mechanical arm; And image degree of the comparing Histogram statistics analysis of again Image intake device being absorbed; Make the image definition optimization of second object to be measured, and obtain the current image plane center of Image intake device, be designated as the second image plane center b; And
Store the memory of striograph shelves to master control computer of position coordinates and second object to be measured of this second image plane center b.
4. mechanical arm corrective system as claimed in claim 1 is characterized in that, said correction angle φ equals 90 degree and deducts the angle between vectorial A and the vector Z.
5. mechanical arm corrective system as claimed in claim 1; It is characterized in that; Said mechanical arm adjusting module is according to proofreading and correct angle φ; The flange face axle center vector Z of adjustment mechanical arm comprises: the flange face axle center vector Z of mechanical arm is turned clockwise proofread and correct angle φ; Make vector Z be parallel to the normal vector N on first object to be measured and plane, second object to be measured place, thereby make the flange face axle center vector Z of mechanical arm perpendicular to the plane at first object to be measured and the second object to be measured place.
6. mechanical arm bearing calibration is applied in the master control computer, and this master control computer expert crosses the mechanical arm kinetic control system mechanical arm is controlled, and it is characterized in that, this method comprises the steps:
The parameter acquiring step is obtained the distance L of flange face axle center vector Z, first object to be measured and second object to be measured of image distance H, the mechanical arm of the Image intake device of mechanical arm;
The first image plane center obtaining step, the control mechanical arm moves, and makes the image definition optimization of first object to be measured of Image intake device picked-up, and obtains the current image plane center of Image intake device, is designated as the first image plane center a;
The second image plane center obtaining step; Distance L according to first object to be measured and second object to be measured; The control mechanical arm moves; Make the image definition optimization of second object to be measured of Image intake device picked-up, and obtain the current image plane center of Image intake device, be designated as the second image plane center b;
Proofread and correct the angle calculation procedure, calculate the vectorial A of the first image plane center a to the second image plane center b, and according to vectorial A and vector Z calculation correction angle φ; And
The mechanical arm set-up procedure, according to proofreading and correct angle φ, the flange face axle center vector Z of adjustment mechanical arm makes the flange face axle center vector Z of mechanical arm perpendicular to the plane at first object to be measured and the second object to be measured place.
7. mechanical arm bearing calibration as claimed in claim 6 is characterized in that, the said first image plane center obtaining step comprises:
Keep vector Z constant, the control mechanical arm moves, and the determinand spare of winning is got in the image plane of Image intake device;
The adjustment mechanical arm makes the determinand spare of winning be positioned at the field depth of Image intake device, and to image degree of the comparing Histogram statistics analysis that Image intake device absorbs, makes the image definition optimization of the determinand spare of winning;
First object to be measured is carried out the contour edge analysis, obtain the imagery coverage center of this first object to be measured;
According to the image plane direction mechanically moving arm of Image intake device, the imagery coverage center of the determinand spare of winning is overlapped with the image plane center of Image intake device;
The adjustment mechanical arm; And image degree of the comparing Histogram statistics analysis of again Image intake device being absorbed; Make the image definition optimization of the determinand spare of winning, and obtain the current image plane center of Image intake device, be designated as the first image plane center a; And
Store the memory of striograph shelves to master control computer of position coordinates and first object to be measured of this first image plane center a.
8. mechanical arm bearing calibration as claimed in claim 6 is characterized in that, the said second image plane center obtaining step comprises:
Keep vector Z constant, according to the distance L of first object to be measured and second object to be measured, the control mechanical arm moves, and makes second object to be measured get in the image plane of Image intake device;
The adjustment mechanical arm makes second object to be measured be positioned at the field depth of Image intake device, and to image degree of the comparing Histogram statistics analysis of Image intake device picked-up, makes the image definition optimization of second object to be measured;
Second object to be measured is carried out the contour edge analysis, obtain the imagery coverage center of this second object to be measured;
According to the image plane direction mechanically moving arm of Image intake device, make the imagery coverage center of second object to be measured overlap with the image plane center of Image intake device;
The adjustment mechanical arm; And image degree of the comparing Histogram statistics analysis of again Image intake device being absorbed; Make the image definition optimization of second object to be measured, and obtain the current image plane center of Image intake device, be designated as the second image plane center b; And
Store the memory of striograph shelves to master control computer of position coordinates and second object to be measured of this second image plane center b.
9. mechanical arm bearing calibration as claimed in claim 6 is characterized in that, said correction angle φ equals 90 degree and deducts the angle between vectorial A and the vector Z.
10. mechanical arm bearing calibration as claimed in claim 6; It is characterized in that; Said mechanical arm set-up procedure comprises: the flange face axle center vector Z of mechanical arm is turned clockwise proofread and correct angle φ; Make vector Z be parallel to the normal vector N on first object to be measured and plane, second object to be measured place, thereby make the flange face axle center vector Z of mechanical arm perpendicular to the plane at first object to be measured and the second object to be measured place.
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| CN2011101368178A CN102794771A (en) | 2011-05-24 | 2011-05-24 | Mechanical arm correction system and method |
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| CN2011101368178A CN102794771A (en) | 2011-05-24 | 2011-05-24 | Mechanical arm correction system and method |
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| CN103192399A (en) * | 2013-03-29 | 2013-07-10 | 中国科学院自动化研究所 | Micro-vision hand-eye calibration method based on target motion |
| CN106291206A (en) * | 2016-07-27 | 2017-01-04 | 深圳市拓科智能科技有限公司 | A kind of Apparatus and method for for the test of electronic product multiplex roles |
| CN107991638A (en) * | 2017-10-31 | 2018-05-04 | 广东省电子技术研究所 | A kind of calibration method of rotary SMT initial workpiece detecting systems |
| CN111143618A (en) * | 2019-08-21 | 2020-05-12 | 紫勋智能科技（北京）有限公司 | Method for calculating object state in video and robot for calculating object state |
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| CN111143618A (en) * | 2019-08-21 | 2020-05-12 | 紫勋智能科技（北京）有限公司 | Method for calculating object state in video and robot for calculating object state |
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Application publication date: 20121128 |