CN104134005A - Presetting bit deviation computing method - Google Patents
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- CN104134005A CN104134005A CN201410378711.2A CN201410378711A CN104134005A CN 104134005 A CN104134005 A CN 104134005A CN 201410378711 A CN201410378711 A CN 201410378711A CN 104134005 A CN104134005 A CN 104134005A
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- 238000004364 calculation method Methods 0.000 title claims abstract description 19
- 238000013507 mapping Methods 0.000 claims description 25
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- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 19
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010998 test method Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Abstract
The invention discloses a presetting bit deviation computing method which is applied to a monitoring system and used for testing presetting bit accuracy of professional electrical platforms and ball machines. According to the presetting bit deviation computing method, modes of mark point coordinate superposition and mathematical modeling are adopted, the error of a test system is reduced greatly, and thus the presetting bit test accuracy is improved greatly to meet the increasingly urgent accuracy test requirement of the high-precision presetting bit.
Description
Technical field
The present invention relates to monitoring technique field, relate in particular to a kind of presetting bit deviation computing method.
Background technology
Current existing presetting bit precision automatic test approach, the composition of presetting bit accuracy test principle and test macro has mainly been described, its test philosophy is on equipment under test, to configure presetting bit mapping point device (as laser lamp), controlling equipment under test rotation is mapped on data acquisition device monumented point, obtain the pixel coordinate of each presetting bit mapping point in picture by data collector, by the presetting bit mapping point pixel coordinate detecting in test and the contrast of initial mapping point pixel coordinate, just can obtain presetting bit deviation pixel count, again with the equivalent physical length of the distance each pixel of whole picture, just can calculate the offset distance of presetting bit horizontal direction and vertical direction.
But, in above-mentioned method of testing, no matter in data collector, use any camera head, all can there is certain distortion because optical imagery causes the view data that checkout equipment obtains, and presetting bit offset distance is all to calculate on the picture data basis after distortion, therefore the presetting bit precision that above-mentioned method of testing is calculated exists larger error.For improving the measuring accuracy of test macro, to start with from the computational accuracy that improves presetting bit offset distance.
Given this, in the urgent need to providing a kind of presetting bit deviation to calculate method and system.
Summary of the invention
The object of this invention is to provide a kind of presetting bit deviation and calculate method and system, have larger error to solve the presetting bit accuracy computation existing in above-mentioned prior art, thereby affect the problem of presetting bit precision accuracy.
For realizing object of the present invention, the invention provides a kind of presetting bit deviation computing method, be applied in supervisory system, comprise the steps:
A. utilize monumented point coordinate paper, monumented point is added on distortion picture, and described distortion picture is carried out to region division, described monumented point coordinate paper and data acquisition screen are in the same size, and the distance on it between adjacent two monumented points all equates;
B. obtain the coordinate figure (X of monumented point in described distortion picture
(i, j), Y
(i, j)), wherein, wherein i, j represent respectively line number and the columns at described monumented point place;
C. obtain the coordinate of presetting bit mapping point N, determine the region at described N place, obtain adjacent four monumented point A, B, C, the D in the region at described N place, and set up unit quadrilateral model with it.
D. in described unit quadrilateral model, the mid point of line taking section AD, BC, AB, CD is L, K, P, Q, quadrilateral ABCD is divided into upper left, lower-left, upper right, bottom right four sub regions by connecting line segment LK, PQ, the parallel lines and line segment AD, BC, AB, the CD that do corresponding quadrilateral limit taking described presetting bit mapping point N as basic point meet at respectively E, F, G, H, form presetting bit mapping point location model;
E. based on described unit quadrilateral model and presetting bit mapping point location model, calculate the physical length S of line segment EN and GN representative
gNand S
eN, according to described S
gNand S
eNcalculate the horizontal range S of described N distance center reference point
xwith vertical range S
y;
F. based on the horizontal range to described N distance center reference point and the computing method of vertical range in step a-e, calculate initial presetting bit mapping point apart from the real standard of center reference point apart from S
x0and vertical range S
y0thereby, calculate presetting bit deviation.
Beneficial effect of the present invention, compared with prior art, to use the mode of extraneous monumented point coordinate paper, by the pattern distortion refinement of presetting bit data acquisition camera, and with the thought of differential, general image distortion is divided into multiple little unit quadrilaterals, so that set up computation model under the prerequisite that reduces as far as possible distortion error, inverse goes out the actual range of presetting bit monumented point mapping.Use the method can greatly reduce test error, thereby improve the measuring accuracy of test macro, meet high precision presetting bit testing requirement.
Brief description of the drawings
Fig. 1 is monumented point coordinate paper schematic diagram provided by the invention;
Fig. 2 is distortion picture monumented point schematic diagram provided by the invention;
Fig. 3 is quadrilateral modeling schematic diagram in unit provided by the invention;
Fig. 4 is presetting bit mapping point location modeling schematic diagram provided by the invention;
Fig. 5 is method flow diagram of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and beneficial effect clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be understood to specific embodiment described herein only in order to explain the present invention, be not limited to protection scope of the present invention.
In supervisory system, the presetting bit precision of electric platform, ball machine is the important performance indexes of watch-dog always.The invention provides a kind of method that is applied to the high precision computation presetting bit deviation in the supervisory system such as above-mentioned electric platform, ball machine.The present invention adopts the mode of stack monumented point coordinate and mathematical modeling, and greatly degree reduces test macro error, thereby greatly improves presetting bit measuring accuracy, to meet day by day urgent high precision presetting bit accuracy test demand.
As shown in Figure 5, the present invention includes following steps:
Step S501, mode by stack monumented point is decomposed into multiple unit quadrilateral to fault image, monumented point coordinate paper is as shown in Figure 1 overlapped completely with data acquisition screen, obtain now monumented point coordinate picture by screen video camera, as shown in Figure 2, be the monumented point coordinate after distortion, just even equally spaced monumented point can be added in this way on distortion picture.
It should be noted that, spacing between the each monumented point on this monumented point coordinate paper is all consistent, and see that theoretically the less computational accuracy of this spacing is higher, but now amount of calculation is very large, and spacing when larger the error of calculation larger, do not reach the requirement of high precision computation, therefore should select suitable monumented point spacing in the time making monumented point coordinate paper.
Step S502, recycling MATLAB reads the pixel coordinate (X of the each monumented point in the monumented point coordinate diagram after distortion
(i, j), Y
(i, j)), wherein the subscript i of X, Y, j represent respectively line number and the columns at this monumented point place.
Step S503, sets up unit quadrilateral model with every four adjacent monumented points, sets up presetting bit mapping point location model prepare for next step.Since the monumented point of the 1st row the 1st row, every four adjacent monumented point lines just form a unit quadrilateral, establish quadrilateral position ABCD, and its each point coordinate general formula can be expressed as A (X
(i, j), Y
(i, j)), B (X
(i+1, j), Y
(i+1, j)), C (X
(i+1, j+1), Y
(i+1, j+1)), D (X
(i, j+1), Y
(i, j+1)), and by the capable j row of this quadrilateral called after i quadrilateral;
Step S504, the mid point of line segment AD, BC, AB, CD is respectively L ((X
(i, j)+ X
(i, j+1))/2, (Y
(i, j)+ Y
(i, j+1))/2), K ((X
(i+1, j)+ X
(i+1, j+1))/2, (Y
(i+1, j)+ Y
(i+1, j+1))/2), P ((X
(i, j)+ X
(i+1, j))/2, (Y
(i, j)+ Y
(i+1, j))/2), Q ((X
(i+1, j+1)+ X
(i, j+1))/2, (Y
(i+1, j+1)+ Y
(i, j+1))/2).Connect LK, PQ unit quadrilateral ABCD is divided into four regions, be called upper left, lower-left, upper right, lower right area, as shown in Figure 3.
If detect that the pixel coordinate of presetting bit mapping point N is (X, Y), the straight line at line segment AB, BC, CD, AD place is respectively a, b, c, d, judges the unit quadrilateral that comprises a N and the region at place in this unit quadrilateral by point and the relation of straight line.Now suppose that N point is contained in the capable j row of i quadrilateral, and be positioned at the tetragonal top left region in this unit, make the parallel lines on the two quadrilateral limits that some N is adjacent as basic point, cross N point and make parallel shape e, the f of straight line a, d, hand over respectively straight line a, b, c, d in a G, F, H, E, concrete image as shown in Figure 4, is set up presetting bit mapping point location model with this.In like manner, in the time that a N is positioned at region, tetragonal lower-left, this unit, be the parallel lines that some N makes straight line a, b; In the time that a N is positioned at the tetragonal right regions in this unit, be the parallel lines that some N makes straight line c, d; In the time that a N is positioned at the tetragonal lower right area in this unit, be the parallel lines that some N makes straight line b, c.0
Step S505, based on above set up mathematical computations pattern, just can calculate the actual range S of line segment GN, EN representative
gN, S
eN, concrete calculation procedure is as follows:
If the slope of straight line a, b, c, d, e, f is respectively K
a, K
b, K
c, K
d, K
e, K
f:
K
a＝(Y
(i,j)-Y
(i+1,j))/(X
(i,j)-X
(i+1,j))；
K
b＝(Y
(i+1,j+1)-Y
(i+1,j))/(X
(i+1,j+1)-X
(i+1,j))；
K
c＝(Y
(i,j+1)-Y
(i+1,j+1))/(X
(i,j+1)-X
(i+1,j+1))；
K
d＝(Y
(i,j+1)-Y
(i,j))/(X
(i,j+1)-X
(i,j))；
Because straight line a//e, d//f have:
K
e＝K
a；
K
f＝K
d；
The equation of straight line a, b, c, d, e, f is:
Y
a＝K
a(X
a-X
(i,j))+Y
(i,j)；······(1)
Y
b＝K
b(X
b-X
(i+1,j))+Y
(i+1,j)；······(2)
Y
c＝K
c(X
c-X
(i+1,j+1))+Y
(i+1,j+1)；······(3)
Y
d＝K
d(X
d-X
(i,j+1))+Y
(i,j+1)；······(4)
Y
e＝K
e(X
e-X)+Y；······(5)
Y
f＝K
f(X
f-X)+Y；······(6)
Simultaneous straight-line equation (4) and (5), (2) and (5), (1) and (6), (3) and (6), solve respectively the vertical pixel coordinate of intersection point E, F and the horizontal pixel coordinate of intersection point G, H:
Y
E＝[K
dY
e(X
(i,j+1)-X)-K
eY
(i,j+1)+K
dY]/(K
d-K
e)；
Y
F＝[K
bK
e(X
(i+1,j)-X)-K
eY
(i+1,j)+K
bY]/(K
b-K
e)；
X
G＝[(Y
fX-Y)-(K
aX
(i,j)-Y
(i,j))]/(K
f-K
a)；
X
H＝[(Y
fX-Y)-(K
cX
(i+1,j+1)-Y
(i+1,j+1))]/(K
f-K
c)；
If the actual pitch of contiguous tokens point is h, according to similar triangle theory, the actual range of line segment GN, EN can be expressed as:
S
GN＝│h(X
G-X)/(X
G-X
H)│
S
EN＝│h(Y
E-Y)/(Y
E-Y
F)│
Monumented point M (the X of selected monumented point coordinate paper central area
(i0, j0), Y
(i0, j0)) centered by reference point,, taking M as with reference to calculating horizontal range and the vertical range of presetting bit mapping point range points M, be included in the horizontal range S of the some N distance center reference point in the capable j column unit of i quadrilateral
xwith vertical range S
yfor:
S
x＝│(j-j
0)h+S
GN│
S
y＝│(i-i
0)h+S
EN│
Step S506, the horizontal range based on above calculating presetting bit mapping point distance center reference point and the method for vertical range, can calculate initial presetting bit mapping point apart from the real standard of center reference point apart from S
x0and vertical range S
y0.Presetting bit horizontal direction offset distance △ Sx and vertical missing are apart from △ S
ybe respectively:
△S
x＝│S
x-S
x0│
△S
y＝│S
y-S
y0│
Above-mentioned algorithm can calculate the presetting bit actual deviation distance of regional in distortion picture.
Wherein it should be noted that, this algorithm is carrying out in the location modeling of unit quadrilateral modeling and presetting bit mapping point, respectively the camber line between two monumented points after distortion is approximately to straight line, orders the parallel lines EF that does and the physical length of GH and be all approximately equal to the spacing h between monumented point crossing N, there is certain error in result of calculation.But through error analysis and calculating, because the monumented point spacing h choosing is much smaller than the actual size of whole picture, the caused error amount of unit quadrilateral modeling and presetting bit mapping point location modeling little and actual deviation distance value far away, therefore the error amount producing because of modeling can be ignored.In addition, adopting said method calculates presetting bit deviation actual range, can eliminate the tetragonal pattern distortion error of unit at interval between the unit quadrilateral at N point place and center reference point.
In sum, the present invention is resolved into multiple unit quadrilateral by the mode of stack monumented point by fault image, and reduce the error of calculation in conjunction with correct Mathematical Modeling Methods, thereby reduce greatly because of the caused actual distance calculation error of pattern distortion, largely improved the accuracy in computation of presetting bit actual deviation distance.These computing method can be applicable in all kinds of test macros that possess presetting bit function device, especially high precision presetting bit test.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (4)
1. presetting bit deviation computing method, are applied in supervisory system, it is characterized in that, comprise the steps:
A. utilize monumented point coordinate paper, monumented point is added on distortion picture, and described distortion picture is carried out to region division, described monumented point coordinate paper and data acquisition screen are in the same size, and the distance on it between adjacent two monumented points all equates;
B. obtain the coordinate figure (X of monumented point in described distortion picture
(i, j), Y
(i, j)), wherein, wherein i, j represent respectively line number and the columns at described monumented point place;
C. obtain the coordinate of presetting bit mapping point N, determine the region at described N place, obtain adjacent four monumented point A, B, C, the D in the region at described N place, and set up unit quadrilateral model with it;
D. in described unit quadrilateral model, the mid point of line taking section AD, BC, AB, CD is L, K, P, Q, quadrilateral ABCD is divided into upper left, lower-left, upper right, bottom right four sub regions by connecting line segment LK, PQ, the parallel lines and line segment AD, BC, AB, the CD that do corresponding quadrilateral limit taking described presetting bit mapping point N as basic point meet at respectively E, F, G, H, form presetting bit mapping point location model;
E. based on described unit quadrilateral model and presetting bit mapping point location model, calculate the physical length S of line segment EN and GN representative
gNand S
eN, according to described S
gNand S
eNcalculate the horizontal range S of described N distance center reference point
xwith vertical range S
y;
F. based on the horizontal range to described N distance center reference point and the computing method of vertical range in step a-e, calculate initial presetting bit mapping point apart from the real standard of center reference point apart from S
x0and vertical range S
y0thereby, calculate presetting bit deviation.
2. presetting bit deviation computing method according to claim 1, is characterized in that, in step e, calculate described S
gNand S
eNstep comprises:
If straight line a, b, c, d, e, f be corresponding line segment AB, BC, CD, AD, EF, GH respectively, its slope is respectively K
a, K
b, K
c, K
d, K
e, K
f:
K
a＝(Y
(i,j)-Y
(i+1,j))/(X
(i,j)-X
(i+1,j))；
K
b＝(Y
(i+1,j+1)-Y
(i+1,j))/(X
(i+1,j+1)-X
(i+1,j))；
K
c＝(Y
(i,j+1)-Y
(i+1,j+1))/(X
(i,j+1)-X
(i+1,j+1))；
K
d＝(Y
(i,j+1)-Y
(i,j))/(X
(i,j+1)-X
(i,j))；
Because straight line a//e, d//f have:
K
e＝K
a；
K
f＝K
d；
The equation of straight line a, b, c, d, e, f is:
(1)Y
a＝K
a(X
a-X
(i,j))+Y
(i,j)；
(2)Y
b＝K
b(X
b-X
(i+1,j))+Y
(i+1,j)；
(3)Y
c＝K
c(X
c-X
(i+1,j+1))+Y
(i+1,j+1)；
(4)Y
d＝K
d(X
d-X
(i,j+1))+Y
(i,j+1)；
(5)Y
e＝K
e(X
e-X)+Y；
(6)Y
f＝K
f(X
f-X)+Y；
Simultaneous straight-line equation (4) and (5), (2) and (5), (1) and (6), (3) and (6), solve respectively the horizontal coordinate of vertical coordinate and intersection point G, the H of intersection point E, F:
Y
E＝[K
dY
e(X
(i,j+1)-X)-K
eY
(i,j+1)+K
dY]/(K
d-K
e)；
Y
F＝[K
bK
e(X
(i+1,j)-X)-K
eY
(i+1,j)+K
bY]/(K
b-K
e)；
X
G＝[(Y
fX-Y)-(K
aX
(i,j)-Y
(i,j))]/(K
f-K
a)；
X
H＝[(Y
fX-Y)-(K
cX
(i+1,j+1)-Y
(i+1,j+1))]/(K
f-K
c)；
If the actual pitch of contiguous tokens point is h, according to similar triangle theory, the actual range of line segment GN, EN can be expressed as:
S
GN＝│h(X
G-X)/(X
G-X
H)│
S
EN＝│h(Y
E-Y)/(Y
E-Y
F)│。
3. presetting bit deviation computing method according to claim 2, is characterized in that, in step e, the horizontal range Sx and the vertical range Sy that calculate described N distance center reference point according to described SGN and SEN, comprise the steps:
Monumented point M (X (the i of selected monumented point coordinate paper central area
0, j
0), Y (i
0, j
0)) centered by reference point,, taking M as with reference to calculating horizontal range and the vertical range of presetting bit mapping point range points M, be included in the horizontal range S of the some N distance center reference point in the capable j column unit of i quadrilateral
xwith vertical range S
yfor:
S
x＝│(j-j
0)h+S
GN│
S
y＝│(i-i
0)h+S
EN│。
4. presetting bit deviation computing method according to claim 3, is characterized in that, in step f, calculate presetting bit deviation and comprise the steps:
If presetting bit horizontal direction offset distance △ is S
xwith vertical missing apart from △ S
ybe respectively:
△S
x＝│S
x-S
x0│
△S
y＝│S
y-S
y0│。
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| CN106289182A (en) * | 2016-07-14 | 2017-01-04 | 济南中维世纪科技有限公司 | A kind of by The Cloud Terrace camera from the method for dynamic(al) correction presetting bit |
| CN106709912A (en) * | 2016-12-29 | 2017-05-24 | 天津市亚安科技有限公司 | Automatic testing system and testing method for preset position precision |
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