CN103206927A - Object rotating angle measurement system and measurement method - Google Patents
Object rotating angle measurement system and measurement method Download PDFInfo
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- CN103206927A CN103206927A CN201310111088XA CN201310111088A CN103206927A CN 103206927 A CN103206927 A CN 103206927A CN 201310111088X A CN201310111088X A CN 201310111088XA CN 201310111088 A CN201310111088 A CN 201310111088A CN 103206927 A CN103206927 A CN 103206927A
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Abstract
The invention provides an object rotating angle measurement system and an object rotating angle measurement method. The system comprises an angle datum instrument, a rotating angle measurement instrument and an angle information processing device, wherein the angle datum instrument comprises an adjustable base and parallel light tubes arranged on the adjustable base, and the parallel light tubes can emit bright cross wires in a parallel light form; the rotating angle measurement instrument comprises an adjustable measurement platform and a visible light digital camera; and the angle information processing device comprises a data acquisition module, an image processing module and an image display module. The measurement method comprises the following steps of: installing the visible light digital camera on a measured object, putting the measured object on the adjustable measurement platform, picking up an initial angle image by the visible light digital camera, and receiving and processing the initial angle image by an angle information processing system to obtain a cross wire inclination angle alpha in an initial state; likewise, obtaining a rotated cross wire inclination angle beta; and calculating the difference of the previous and later inclination angles by the angle information processing system, thus obtaining the rotating angle value of the measured object.
Description
Technical field
The present invention relates to the measuring technique of the object anglec of rotation, specifically refer to a kind of object rotation angle measurement system and measuring method.
Background technology
At present, measure the anglec of rotation and generally use scrambler, rotary transformer and inductosyn etc.Characteristics such as in the engineering survey field, rotary encoder is generally adopted in the measurement of the anglec of rotation, during work rotary encoder is connected on the testee by screw to get final product, and that this measuring method has is reliable and stable, precision is high, feedback is timely.But special when the testee structure, when the benchmark that the location is installed can't be provided, can't use rotary encoder to measure.And because the rotary encoder integrated level than higher, is a kind of exact instrument; Controller to received signal requires also than higher, causes relatively difficulty of rotary encoder installation, maintenance, needs the professional and technical personnel to participate in just finishing, and has improved its use cost.In addition, at some occasion not high to the accuracy requirement of rotation angle measurement, also unnecessary use rotary encoder.
Summary of the invention
The objective of the invention is to design a kind of object rotation angle measurement system and measuring method, have simple to operate, highly versatile, can show measured value, 360 ° of characteristics such as all standing measurement in real time.
Technical scheme of the present invention: a kind of object rotation angle measurement of the present invention system comprises angle reference instrument, rotation angle measurement instrument and angle information treating apparatus, the angle reference instrument comprises adjustable frames and the parallel light tube that places on the adjustable frames, directional light pipe racks autocollimation function can be sent the bright line crosshair of directional light form; The rotation angle measurement instrument comprises can regulate measuring table and visible light digital camera; The angle information treating apparatus is computing machine, and computing machine comprises data acquisition module, image processing module and image display.
The focal length of described parallel light tube is 200mm, 10 ° of field angle.
Described adjustable frames selects for use position, the accurate angle of the MGC105 of Beijing Optical Instrument Factory type platform, the accurate universal stage of PRS105 type and the accurate lifting table of VS104 type to combine.
The pixel number of described visible light digital camera is 1004 * 1004, and field angle is 5 °, and the vision signal of visible light digital camera output is camera link LVDS differential signal.
The described measuring table of regulating selects for use position, the accurate angle of the MGC105 of Beijing Optical Instrument Factory type platform, the accurate universal stage of PRS105 type, the accurate lifting table of VS104 type and one flat plate table top to combine.
Described angle information treating apparatus is carrier with the computing machine, comprises data acquisition module, image processing module and image display, and data acquisition module can be gathered the camera link vision signal of visible light camera output; Image processing module is handled the inclination of crosshair and angle changing in the computed image to the view data of gathering.
A kind of object rotation angle measurement method of the present invention the steps include:
1) the visible light camera is installed on the testee, then testee being placed on to regulate on the measuring table, the optical axis of visible light camera is parallel with the turning axle of testee, and guarantees to be in all the time in the visual field of the angle reference instrument that places its front end when the visible light camera rotates with testee;
2) adjust the height to regulate measuring table and pitching, deflection angle, make the central shaft of the turning axle alignment angle benchmark instrument of testee;
3) the visible light camera is connected to the angle information disposal system, opens the visible light camera, absorb the initial angle image, and receive, handle by the angle information disposal system, obtain the crosshair tilt angle alpha under the original state;
4) rotate testee, the back angular image is rotated in the picked-up of visible light camera, and is received, handled by the angle information disposal system, obtains postrotational crosshair inclination angle beta;
5) pitch angle that obtains for twice before and after calculating by the angle information disposal system is poor, obtains surveying the angle numerical value that object rotates.
Described step 3) and 4) the angle information disposal system is carried out image processing method to the image of gathering and is: different according to each grey scale pixel value, distinguish the pixel of forming crosshair and the pixel of forming background, at first adopt the big Tianjin of global threshold choosing method method that the crosshair image that obtains is carried out binary conversion treatment, image is divided into the prospect crosshair of white and the background of black, utilize the HOUGH conversion to carry out straight-line detection then, obtain the coarse localization of crosshair, use least square method that two vertical edges of the crosshair of coarse localization are carried out fitting a straight line at last.
Advantage of the present invention: image processing method of the present invention and angle value computing method, realized the automatic measurement of the real-time anglec of rotation of testee, avoided artificial reading error.The angle measurement of the present invention's output is real time data, and the installation accuracy between visible light camera and the testee is very little to the angle influence of measurement error, handled easily.In a word, rotation angle measuring system of the present invention and measuring method have simple to operate, highly versatile, can show measured value, 360 ° of characteristics such as all standing measurement in real time.
Description of drawings
Fig. 1 is measuring system synoptic diagram of the present invention;
The process flow diagram that Fig. 2 handles for image of the present invention;
The original illustration figure that Fig. 3 handles for image of the present invention;
Fig. 4 is the central area amplification effect figure of Fig. 3;
Fig. 5 is the design sketch after Fig. 3 binary conversion treatment;
Fig. 6 is the net result figure of Fig. 3 after handling through image;
Fig. 7 is the postrotational processing result image synoptic diagram of testee of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments:
Fig. 1 is measuring system synoptic diagram of the present invention.
A kind of object rotation angle measurement of the present invention system comprises angle reference instrument 1, rotation angle measurement instrument 2 and angle information treating apparatus 3, its angle reference instrument 1 comprises adjustable frames 1a and the parallel light tube 1b that places on the adjustable frames 1a, parallel light tube 1b is with the autocollimation function, can send the bright line crosshair of directional light form; Rotation angle measurement instrument 2 comprises can regulate measuring table 2a and visible light digital camera 2b; Angle information treating apparatus 3 is computing machine, and computing machine comprises data acquisition module, image processing module and image display.
The focal length of described parallel light tube 1b is 200mm, 10 ° of field angle.
Described adjustable frames 1a selects for use position, the accurate angle of the MGC105 of Beijing Optical Instrument Factory type platform, the accurate universal stage of PRS105 type and the accurate lifting table of VS104 type to combine.
The pixel number of described visible light digital camera 2b is 1004 * 1004, and field angle is 5 °, and the vision signal of visible light digital camera 2b output is camera link LVDS differential signal.
The described measuring table 2a that regulates selects for use position, the accurate angle of the MGC105 of Beijing Optical Instrument Factory type platform, the accurate universal stage of PRS105 type, the accurate lifting table of VS104 type and one flat plate table top to combine.Can regulate measuring table 2a as the carrier of testee, lifting, the pitching of testee, the regulatory function of azimuth direction are provided.
Described angle information treating apparatus 3 is carrier with the computing machine, comprises data acquisition module, image processing module and image display, and data acquisition module can be gathered the camera link vision signal of visible light camera 3 outputs; Image processing module is handled the inclination of crosshair and angle changing in the computed image to the view data of gathering.
System places on the workbench 4, and workbench 4 adopts the marble platform, and the precision of marble platform is 00 grade.The surface roughness Ra of marble platform workplace: (0.4-0.8) um, the surface roughness Ra≤6.3um of side.Be reserved with some threaded holes on the marble platform.
Adjustable frames 1a is connected and fixed on the workbench 4 by bolt.
Data acquisition module can be gathered the camera link vision signal of visible light camera output, specifically is the VP-CL62MP image pick-up card of selecting Ling Hua Science and Technology Ltd. for use.
Object rotation angle measurement method of the present invention the steps include:
1) the visible light camera is installed on the testee, then testee being placed on to regulate on the measuring table, the optical axis of visible light camera is parallel with the turning axle of testee, and guarantees to be in all the time in the visual field of the angle reference instrument that places its front end when the visible light camera rotates with testee;
2) adjust the height to regulate measuring table and pitching, deflection angle, make the central shaft of the turning axle alignment angle benchmark instrument of testee;
3) the visible light camera is connected to the angle information disposal system, opens the visible light camera, absorb the initial angle image, and receive, handle by the angle information disposal system, obtain the crosshair tilt angle alpha under the original state;
4) rotate testee, the back angular image is rotated in the picked-up of visible light camera, and is received, handled by the angle information disposal system, obtains postrotational crosshair inclination angle beta;
5) pitch angle that obtains for twice before and after calculating by the angle information disposal system is poor, obtains surveying the angle numerical value that object rotates.
Described step 3) and 4) the angle information disposal system is carried out image processing method to the image of gathering and is: different according to each grey scale pixel value, distinguish the pixel of forming crosshair and the pixel of forming background, at first adopt the big Tianjin of global threshold choosing method method that the crosshair image that obtains is carried out binary conversion treatment, image is divided into the prospect crosshair of white and the background of black, utilize the HOUGH conversion to carry out straight-line detection then, obtain the coarse localization of crosshair, use least square method that two vertical edges of the crosshair of coarse localization are carried out fitting a straight line at last.
Fig. 3～Fig. 7 is image processing figure: the major function of image processing module is the image of gathering to be carried out image handle, the angle of inclination of crosshair and the anglec of rotation in the computed image, and its process flow diagram is seen shown in Figure 2.The ultimate principle of image processing is the difference according to each grey scale pixel value, distinguishes the pixel of forming crosshair and the pixel of forming background, calculates the angle of inclination of crosshair then according to the location of pixels distribution of all composition crosshairs.The original illustration image of gathering is seen shown in Figure 3, by its central area being amplified back visible (seeing shown in Figure 4), the pixel of forming crosshair is not to be a sharp-edged straight line, the grey scale pixel value at crosshair edge is between crosshair intermediate pixel and background pixel, and this will influence the computational accuracy at crosshair angle of inclination, therefore need to adopt relevant image processing means, eliminate this influence, improve the precision of processing result image.Concrete image processing method is at first to adopt the big Tianjin of global threshold choosing method method that the crosshair image that obtains is carried out binary conversion treatment, and image is divided into the prospect crosshair of white and the background of black, sees shown in Figure 5.Utilize the HOUGH conversion to carry out straight-line detection then, obtain the coarse localization of crosshair.Use least square method that two vertical edges of the crosshair of coarse localization are carried out fitting a straight line at last, see shown in Figure 6, thinner black crosshair is the result of fitting a straight line among the figure, thicker black crosshair is the graduation theoretical center of visible light camera 3 output images, finally calculates the inclination alpha of crosshair.
In like manner, can obtain postrotational crosshair inclination angle beta, see Fig. 7.Image processing module can also carry out difference calculating to the result that twice image handled simultaneously, obtains the angle of testee rotation.
The result that display module obtains image processing module shows with the form of picture and numerical value.
Claims (8)
1. object rotation angle measurement system, comprise angle reference instrument (1), rotation angle measurement instrument (2) and angle information treating apparatus (3), it is characterized in that: angle reference instrument (1) comprises adjustable frames (1a) and places parallel light tube (1b) on the adjustable frames (1a), parallel light tube (1b) is with the autocollimation function, can send the bright line crosshair of directional light form; Rotation angle measurement instrument (2) comprises can regulate measuring table (2a) and visible light digital camera (2b); Angle information treating apparatus (3) is computing machine, and computing machine comprises data acquisition module, image processing module and image display.
2. object rotation angle measurement according to claim 1 system, it is characterized in that: the focal length of parallel light tube (1b) is 200mm, 10 ° of field angle.
3. object rotation angle measurement according to claim 1 and 2 system, it is characterized in that: described adjustable frames (1a) selects for use position, the accurate angle of the MGC105 of Beijing Optical Instrument Factory type platform, the accurate universal stage of PRS105 type and the accurate lifting table of VS104 type to combine.
4. object rotation angle measurement according to claim 1 and 2 system, it is characterized in that: the pixel number of visible light digital camera (2b) is 1004 * 1004, field angle is 5 °, and the vision signal of visible light digital camera (2b) output is camera link LVDS differential signal.
5. object rotation angle measurement according to claim 1 and 2 system is characterized in that: can regulate measuring table (2a) and select for use position, the accurate angle of the MGC105 of Beijing Optical Instrument Factory type platform, the accurate universal stage of PRS105 type, the accurate lifting table of VS104 type and one flat plate table top to combine.
6. object rotation angle measurement according to claim 1 and 2 system, it is characterized in that: angle information treating apparatus (3) is carrier with the computing machine, comprise data acquisition module, image processing module and image display, data acquisition module can be gathered the camera link vision signal of visible light camera (3) output; Image processing module is handled the inclination of crosshair and angle changing in the computed image to the view data of gathering.
7. an object rotation angle measurement method the steps include:
1) the visible light camera is installed on the testee, then testee being placed on to regulate on the measuring table, the optical axis of visible light camera is parallel with the turning axle of testee, and guarantees to be in all the time in the visual field of the angle reference instrument that places its front end when the visible light camera rotates with testee;
2) adjust the height to regulate measuring table and pitching, deflection angle, make the central shaft of the turning axle alignment angle benchmark instrument of testee;
3) the visible light camera is connected to the angle information disposal system, opens the visible light camera, absorb the initial angle image, and receive, handle by the angle information disposal system, obtain the crosshair tilt angle alpha under the original state;
4) rotate testee, the back angular image is rotated in the picked-up of visible light camera, and is received, handled by the angle information disposal system, obtains postrotational crosshair inclination angle beta;
5) pitch angle that obtains for twice before and after calculating by the angle information disposal system is poor, obtains surveying the angle numerical value that object rotates.
8. object rotation angle measurement method according to claim 7, it is characterized in that: step 3) and 4) the angle information disposal system is carried out image processing method to the image of gathering and is: different according to each grey scale pixel value, distinguish the pixel of forming crosshair and the pixel of forming background, at first adopt the big Tianjin of global threshold choosing method method that the crosshair image that obtains is carried out binary conversion treatment, image is divided into the prospect crosshair of white and the background of black, utilize the HOUGH conversion to carry out straight-line detection then, obtain the coarse localization of crosshair, use least square method that two vertical edges of the crosshair of coarse localization are carried out fitting a straight line at last.
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| CN106643565A (en) * | 2015-10-30 | 2017-05-10 | 北京新长征天高智机科技有限公司 | Noncontact angle measuring system and measuring method thereof |
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