CN105043259B - Digit Control Machine Tool rotary shaft error detection method based on binocular vision - Google Patents
Digit Control Machine Tool rotary shaft error detection method based on binocular vision Download PDFInfo
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Abstract
Digit Control Machine Tool rotary shaft error detection method of the invention based on binocular vision belongs to machine tool accuracy detection technique field, is related to the detection of double rotating shaft geometric errors and the discrimination method of a kind of five-axle number control machine tool.The present invention uses high-resolution binocular vision system, and collection is affixed on lathe turntable surface mark dot position information；Extracted again by camera calibration, image segmentation, mark point, the detection of two site errors of rotary axis of machine tool error identification model realization rotary axis of machine tool and two angular errors is gathered, and completes the quick measurement of geometric parameter.The method uses circular markers, and not only image processing program is simple, feature extraction high precision, and robustness is good, measure quick, convenient.Meanwhile, the problem of this method solve the detection of Digit Control Machine Tool rotation axle misalignment, identification difficulty provides new direction for machine tool error detection with identification technique.
Description
Technical field
The invention belongs to machine tool accuracy detection technique field, it is related to a kind of double rotating shaft geometric errors inspection of five-axle number control machine tool
Survey and discrimination method.
Background technology
In the field such as Aeronautics and Astronautics and national defense industry, to the requirement more and more higher of efficient high accuracy manufacture.Especially pin
To parts such as baroque engine impeller, Making molds, five-axle number control machine tool can realize the flexible control of position and direction
System, is the current more extensive technology of application.However, compared to three axis numerically controlled machine, five-axle number control machine tool not only has three directly
The error of bobbin, while also add the error of two rotary shafts, this causes machine tool error to increase, and unavoidably.And revolve
Rotating shaft, as the important composition component of five-axle number control machine tool, is that lathe is accurate because it lacks the method for precision calibration and error compensation
The main source of static error and dynamic error.Therefore, the error inspected periodically with demarcation rotary shaft can not only maintain lathe
Precision, while being laid a good foundation for precision manufactureing.
At present, the technology of NC Machine Error detection mainly includes：Material standard mensuration, laser interferometer, ball bar,
Laser tracker etc..The A of Patent No. CN 102476323 that Dalian wound is invented up to Technology Co., Ltd. Dong Hai《Novel numerical control machine
Bed error detector》A kind of error-detecting instrument based on Circular test has been invented, by analyzing the error of Circular test interpolation, has been assessed
Machine tool capability.But this method is not easy to realize the identification of every error, cause error compensation difficult.University Of Chongqing's Tao Gui treasured etc.
The A of Patent No. CN 103143984 of people's invention《Machine tool error dynamic compensation method based on laser tracker》Base is invented
In the real-time detection technique of the machine tool error of laser tracker, although this method is simply, conveniently, cost is higher.Laser is done
Interferometer measurement accuracy is higher, but operates more complicated.In summary, current method is used for the error-detecting of linear axis,
And cost is higher, it is not particularly suited for rotating the detection and identification of axis error.Therefore, it is necessary to study it is a kind of it is convenient, fast, low into
This rotary shaft error-detecting and identification technique.
The content of the invention
The invention solves the problems that technical barrier be to overcome problem of the prior art, invent a kind of lathe based on binocular vision
Rotate axle misalignment measuring method.Multigroup reflective encoder mark point is affixed on rotating shaft surface to be measured, digital control system control machine
Bed rotary shaft determines angle rotation, and gathers reflective encoder mark point using binocular vision in each angle, and obtains coded markings
Point three dimensional local information.Based on above-mentioned mark dot position information, using least square fitting space circle, and space circle is obtained
Position coordinates, acquisition rotating shaft center's linearity error to be measured is compared with desired axis center；Meanwhile, intended using mark point position
Close space plane, the normal vector of this plane and preferable shaft axis vector ratio are compared with can measure the angular error of rotating shaft installation.This
Method uses circular markers, and not only image processing program is simple, feature extraction high precision, and robustness is good, measurement is quick,
It is convenient.Meanwhile, the problem of this method solve the detection of Digit Control Machine Tool rotation axle misalignment, identification difficulty, is machine tool error inspection
Survey and provide new direction with identification technique.
The technical solution adopted in the present invention is a kind of Digit Control Machine Tool rotary shaft error detection method based on binocular vision,
It is characterized in that, the present invention uses high-resolution binocular vision system, and collection is affixed on lathe turntable surface annulus coded markings point
Positional information, turntable often turns over certain angle, and vision system is gathered once, until rotating a circle.Eventually pass video camera mark
Fixed, image segmentation, mark point are extracted, two site errors and two of rotary axis of machine tool error identification model realization rotary axis of machine tool
The detection collection of item angular error, obtains 4 alignment errors of rotary axis of machine tool, completes the quick measurement of geometric parameter；Detection
Method is comprised the following steps that：
(1) demarcation of video camera
The present invention uses the binocular vision calibration method based on high-precision gridiron pattern target；
The inside and outside parameter of two cameras is determined first by the binocular vision calibration method based on high-precision gridiron pattern target,
Then three-dimensional reconstruction is carried out to gridiron pattern target angle point, and the deviation of coordinate and actual coordinate is rebuild according to angle point, function f is set up
(x) global optimization, is carried out to inside and outside parameter；It is as follows：
F (x)=(xp-xi)2+(yp-yi)2+(zp-zi)2 (1)
Wherein：xp, yp, zpFor the actual coordinate of each angle point, and xi, yi, ziTo rebuild obtained each angular coordinate, then set up
Object function F (x) is as follows：
Wherein,To there is the quadratic sum of a departure function, the object function F (x) is carried out using LM methods excellent
Change, obtain the globally optimal solution of inside and outside parameter；
(2) characteristics of image is split
Noise reduction, filtering process are carried out to image first, followed by grey relevant dynamic matrix by the beginning of all target signatures and background
Step separation, grey relevant dynamic matrix respective formula：
Wherein, g (x, y) is the gray value corresponding to image (x, y) pixel, and T represents selected gray threshold, G1、G2
For background set, signature set；Then, connected component labeling is carried out to signature set, and is made using region area
Uninterested connected region in image is removed for threshold value, respective formula is as follows：
Wherein, i=1,2....n are n connected region, hi(x, y) is the area of i-th of connected region, and S is connected region
Domain area threshold value；If connected region area is less than S, this connected region is set to background；
(3) extraction of signature
1) encoded point center extraction：
Use the connected region in 8 connected component labeling images first, followed by curvature limitation, by curvature it is larger with compared with
Small connected region removal of loseing interest in, respective formula is as follows：
Wherein, i=1,2....n are n connected region, and gt (i) is the eccentricity of i-th of connected region, e1,e2For centrifugation
Rate threshold value, L (i)=0 represents i-th of connected domain being set to background；Thus, accurate coded markings point diagram just can be obtained
Picture；Then, using centroid algorithm, coded markings dot center coordinate is obtained；
2) encoded point is recognized：
The present invention uses annulus coded markings point, and annulus encoding centre is circle mark point 6, is concentric around mark point
Segmentation circle ring area, the identity information for characterizing annulus coding, referred to as coding-belt 7；The annulus is equally divided into according to angle
15 parts, 24 degree every part, equivalent to bit；It is white that each, which takes foreground, and rear scenery is black, and corresponding two enter
System is encoded to " 1 ", " 0 "；From the mark point center of circle, solid and hollow coding-belt is scanned according to certain orientation, white represents real
The heart, black represent it is hollow, scanning be designated as 1 to solid code band, hollow code band is designated as 0；If not scanning coding-belt, therefrom
The heart starts to rescan；After run-down, the code value sequence of whole encoded point is all read, and forms a binary system sequence
Row, each binary sequence is again corresponding with a decimal integer, so as to obtain the identity information of each encoded point；
After decoding, the identity information sent out according to different coding mark point sits the pixel of the same encoded point of each angle
Mark is stored under a file, and the pixel coordinate of all mark point left images is obtained successively；Zhang Shi standardizations are recycled to obtain
Video camera inside and outside parameter, rebuild the three-dimensional coordinate of each mark point；
(4) rotary axis of machine tool error identification
Digit Control Machine Tool rotation axis error mainly has two kinds of error sources, is connection error and volumetric errors respectively；The former with
Lathe command position is unrelated, is typically due to caused by rotary shaft installation deviation, and the latter is relevant with lathe command position, by lathe zero
Component processing precision influences；The present invention is directed to the connection error of rotary axis of machine tool, invents a kind of lathe rotation based on binocular vision
Rotating shaft error-detecting discrimination method；Connection error has 4, including 2 linear position errors, 2 angular errors；
According to three-dimensional coordinate of the encoded point under visual coordinate system under the different angles obtained, least square method is utilized
Fit Plane, sets up plane equation：
Ax+By+Cz+D=0 (6)
Wherein, A, B, C, D are plane equation coefficient；It can obtain after simplification：
To realize plane fitting, object function F (x) is set up：
Wherein,(xi,yi,zi) (i=1,2,3...n) be n coding mark
Three-dimensional coordinate of the note point under visual coordinate system；It is possible thereby to obtain the plane of fitting, and obtain the normal vector of the plane.Than
Compared with the normal vector and the normal vector of ideal plane of fit Plane, 2 angular errors of the connection error of rotary shaft are solved；
The linear position error of error is connected for identification rotary shaft, according to encoded point position relationship, each two point is linked to be one
Bar straight line L1；When rotary shaft rotates according to certain angle, the straight line can follow rotating shaft to carry out rotary and be in line L2, and directly
Line L1With straight line L2Intersect at point P1；Successively, rotary shaft rotates a circle, and forms n bar straight lines altogether, and every two straight lines meet at point Pi, i
=1,2 ... .n/2, averaged P to these coordinates put, and P is considered as to the center of circle of actual circle；Compare the actual center of circle and ideal
The coordinate in the center of circle can obtain the linear position error that rotary axis of machine tool connects error：
Er (x)=P (x)-Pideal(x) (9)
Er (y)=P (y)-Pideal(y) (10)
Wherein, er (x), er (y) are respectively rotary shaft in X, Y-direction linear position error, and P (x), P (y) is that rotary shaft is real
The X in the border center of circle, Y coordinate, Pideal(x),Pideal(y) it is the X in the preferable rotary shaft center of circle, Y coordinate；
Realize that 4 connections of Digit Control Machine Tool rotary shaft are missed using reflective encoder mark point the beneficial effects of the invention are as follows this method
The detection and identification of difference, with convenient, fast, robustness is good, anti-noise ability is strong, the cooperation without laser alignment and other axles
The advantages of.This method effectively increases the efficiency of rotary axis of machine tool error-detecting, it is to avoid cumbersome measurement process and complexity
Identification model, for NC Machine Error detection provide it is a kind of quickly, easily method；It is simultaneously other error-detectings of lathe
Provide the foundation and direction.
Brief description of the drawings
Fig. 1 is machine tool error detection means illustraton of model.
Fig. 2 is annulus coded markings point diagram.
Fig. 3 is lathe anglec of rotation axis error identification principle figure.
Fig. 4 is rotary axis of machine tool site error identification principle figure.
In figure：1 left video camera；2 right video cameras；3 reflective encoder mark points；4 rotation worktable of machine tool；5 Digit Control Machine Tools；6 circles
Mark point；7 coding-belts；8 preferable turntable planes；9 actual turntable planes；10 actual turntable normal vectors；11 coded markings points；12
Preferable turntable；13 actual turntables；14 actual turntable centers；15 coded markings points；16 preferable turntable centers.
Embodiment
Describe the embodiment of the present invention in detail below in conjunction with technical scheme and accompanying drawing.Accompanying drawing 1 is based on binocular vision
The machine tool error detection means illustraton of model of feel.This method gathers the coding of tested turntable surface by left and right two video cameras 1,2
The coordinate information of mark point, through processing solution identification rotation Spindle Links error.
Measurement apparatus is first installed, by left and right video camera 1,2 be arranged on rotary shaft above, and by left and right high-speed camera 1,
2 fix, and adjustment position make it that measurement visual field in the public view field of left and right high-speed camera 1,2, adjusts light-source brightness to improve
The brightness of measurement space；Then, reflective marker point 3 is arbitrarily affixed on the surface of turntable 4, and control lathe to be rotated by certain angle,
Often rotate once, left and right camera 1,2 is shot once, until turntable 4 rotates a circle；Finally, binocular phase is carried out by graphics workstation
The work such as machine demarcation, image segmentation, feature extraction, error identification.
The present invention shoots object motion conditions, two video camera model VA- using two high-resolution cameras 1,2
29M video cameras, resolution ratio：6576 × 4384, target surface size：35mm, frame frequency：5fps.Camera lens model is preferred can EF 24-70mm
F/2.8L II USM zoom lens, parameter is as follows, lens focus：F=24-70, maximum ring：F2.8, camera lens weight：
805g, Lens：88.5mm×113mm.Shooting condition is as follows：, picture pixels are 6576 × 4384, and lens focus is
50mm, object distance is 460mm, and visual field is about 200mm × 200mm.
(1) demarcation of high-speed camera is carried out
The present invention use using Zhang Zhengyou et al. proposition the camera marking method based on two dimensional surface gridiron pattern target as
Basis, demarcate and obtains the intrinsic parameter K, outer parameter [R T], distortion factor δ of two high speed cameras and reapply Levenberg-
Marquardt (LM) methods are optimized to formula (2), can obtain the overall situation of each camera interior and exterior parameter of binocular vision system most
Excellent solution, calibration result is as shown in table 1：
The calibration result of table 1
(2) characteristics of image is split
Collected image is pre-processed using grey relevant dynamic matrix, according to formula (3), by gray threshold, will be compiled
Code labeling point and background initial gross separation.Then, to coded markings set carry out connected component labeling, and by the use of region area as
Threshold value removes uninterested connected region in image, finally realizes image segmentation.
(3) extraction of signature
Using the connected region in 8 connected component labeling images, followed by curvature limitation, by curvature it is larger with it is less
Connected region of loseing interest in is removed, and is got a distinct image.Centroid algorithm is utilized simultaneously, obtains coded markings dot center coordinate；Fig. 2
Point diagram is marked for circle codification, there is shown circle mark point 1 is white, peripheral circular region representation coded markings point identity information is
Coding-belt 2.From the circle mark point center of circle, according to clockwise, solid and hollow coding-belt is scanned.Wherein, white is represented
It is solid, black represent it is hollow, scanning be designated as 1 to solid code band, hollow code band is designated as 0.After run-down, whole encoded point is read
Code value sequence, form a binary sequence 001100111011111, and change into a decimal integer 6607 so that
Obtain the identity information of each encoded point.In addition, being rebuild by binocular, the three-dimensional coordinate of coded markings point can be obtained.
(4) rotary axis of machine tool error identification
In the present invention, every 5 ° of control lathe turns once, and corotation is dynamic 360 °, and left images of each angle acquisition, and
Reconstruct encoded point three-dimensional coordinate.For realize rotary axis of machine tool connect error detection and identification, respectively carry out plane fitting with
Ask in the center of circle.First, shown in accompanying drawing 3, according to three-dimensional of the encoded point 11 under visual coordinate system under the different angles obtained
Coordinate, using formula (6), (7), (8), the plane is obtained by least square fitting mark point plane 2, and by calculating
Normal vector 10.Compare the normal vector 10 of fit Plane and the normal vector of ideal plane, Z axis vector is considered as ideal plane method
To vector, the angular error ε of rotary axis of machine tool and actual turntable normal vector 10 is solved1, the angle of rotary axis of machine tool and Z axis misses
Poor ε2Two angular errors.
The linear position error of error is connected for identification rotary shaft, according to encoded point position relationship, 2 encoded points are selected,
1 straight line is formed, initial straight L is designated as1.Every 5 ° of lathe is rotated once, and not rotating once can all form new straight line, turn successively
Dynamic one week, every initial straight can all form 71 new straight lines, and the intersection point of these straight lines is considered as center of circle O, as shown in Figure 4,
Averaged eventually through three groups of experiments, it is determined that the accurate center of circle.Justified using formula (9), (10) relatively actual center of circle 14 with ideal
The coordinate of the heart 16, the final linear position error delta for obtaining rotary axis of machine tool and X-axis1, rotary axis of machine tool and Y-axis linear position
Error delta2。
The present invention utilizes binocular vision detection coded markings point information, and by setting up better simply error identification model,
Realize rotary axis of machine tool error-detecting and identification.This method has that convenient, fast, robustness is good, anti-noise ability is strong, without laser
The advantages of cooperation of collimation and other axles, effectively increases the efficiency of rotary axis of machine tool error-detecting, while being other mistakes of lathe
Difference detection provides the foundation and direction.
Claims (1)
1. a kind of Digit Control Machine Tool rotary shaft error detection method based on binocular vision, it is characterized in that, using high-resolution binocular
Vision system, collection is affixed on the positional information of lathe turntable surface annulus coded markings point, and turntable often turns over certain angle, depending on
System acquisition is felt once, until rotating a circle；Eventually pass camera calibration, image segmentation, mark point extraction, rotary axis of machine tool
The detection of two site errors of error identification model realization rotary axis of machine tool and two angular errors is gathered, and completes geometric parameter
Quick measurement；Detection method is comprised the following steps that：
(1) demarcation of video camera
Using the binocular vision calibration method based on high-precision gridiron pattern target；
The inside and outside parameter of two cameras is determined first by the binocular vision calibration method based on high-precision gridiron pattern target, then
Three-dimensional reconstruction is carried out to gridiron pattern target angle point, and according to the deviation for rebuilding coordinate and actual coordinate of angle point, sets up function f
(x) global optimization, is carried out to inside and outside parameter；It is as follows：
F (x)=(xp-xi)2+(yp-yi)2+(zp-zi)2 (1)
Wherein：xp, yp, zpFor the actual coordinate of each angle point, and xi, yi, ziTo rebuild obtained each angular coordinate, then mesh can be set up
Scalar functions F (x) is as follows：
Wherein,To there is the quadratic sum of a departure function, using Levenberg-Marquardt methods to the target
Function F (x) is optimized, and obtains the globally optimal solution of inside and outside parameter；
(2) characteristics of image is split
Noise reduction, filtering process are carried out to image first, it is grey using grey relevant dynamic matrix by all target signatures and background initial gross separation
Spend threshold method respective formula：
Wherein, g (x, y) is the gray value corresponding to image (x, y) pixel, and T represents selected gray threshold, G1For background
Set, G2It is characterized tag set；Connected component labeling is carried out to signature set, and threshold value is used as by the use of region area
Uninterested connected region in image is removed, respective formula is as follows：
Wherein, i=1,2....n are n connected region, hi(x, y) is the area of i-th of connected region, and S is connected region area
Threshold value；If connected region area is less than S, this connected region is set to background；
(3) extraction of signature
1) encoded point center extraction：
Use the connected region in 8 connected component labeling images first, followed by curvature limitation, by curvature it is larger with it is less
Connected region of loseing interest in is removed, and respective formula is as follows：
Wherein, i=1,2....n are n connected region, and gt (i) is the eccentricity of i-th of connected region, e1,e2For eccentricity door
Limit value, L (i)=0 represents i-th of connected domain being set to background；Thus, just obtaining accurate coded markings dot image；Utilize
Centroid algorithm, obtains coded markings dot center coordinate；
2) encoded point is recognized：
Using annulus coded markings point, it around circle mark point (6), mark point is concentric sectional circular that annulus encoding centre, which is,
Ring region, the referred to as identity information for characterizing annulus coding, coding-belt (7)；The annulus is equally divided into 15 parts according to angle, often
24 degree of part, equivalent to bit；It is white that each, which takes foreground, and rear scenery is black, corresponding binary coding
For " 1 ", " 0 "；From the mark point center of circle, according to certain orientation, solid and hollow coding-belt, scanning to solid code band note are scanned
For 1, hollow code band is designated as 0, if not scanning coding-belt, Ze Cong centers start to rescan；It is whole to compile after run-down
The code value sequence of code-point is all read, and forms a binary sequence, and each binary sequence is again whole with a decimal system
Number correspondence, so as to obtain the identity information of each encoded point；
After decoding, according to the identity information of different coding mark point, the pixel coordinate of the same encoded point of each angle is stored
Under a file, the pixel coordinate of all mark point left images is obtained successively；Recycle based on high-precision gridiron pattern target
Binocular vision calibration method obtain video camera inside and outside parameter, rebuild the three-dimensional coordinate of each mark point；
(4) rotary axis of machine tool error identification
Connection error for rotary axis of machine tool carries out detection and identification, including 2 linear position errors, 2 angular errors；
According to three-dimensional coordinate of the encoded point under visual coordinate system under the different angles obtained, least square fitting is utilized
Plane, sets up plane equation：
Ax+By+Cz+D=0 (6)
Wherein, A, B, C, D are plane equation coefficient；It can obtain after simplification：
To realize plane fitting, object function F (x) is set up：
Wherein,(xi,yi,zi) for n coded markings point under visual coordinate system
Three-dimensional coordinate, wherein i=1,2,3...n；It is possible thereby to obtain the plane of fitting, and obtain the normal vector of the plane；Than
Compared with the normal vector and the normal vector of ideal plane of fit Plane, 2 angular errors of the connection error of rotary shaft are solved；
The linear position error of error is connected for identification rotary shaft, according to encoded point position relationship, each two point is linked to be one directly
Line L1；When rotary shaft rotates according to certain angle, the straight line can follow rotating shaft to carry out rotary and be in line L2, and straight line L1
With straight line L2Intersect at point P1；Successively, rotary shaft rotates a circle, and forms n bar straight lines altogether, and every two straight lines meet at point Pi, i=1,
2,3 ... n/2, averaged P to these coordinates put, and P is considered as to the center of circle of actual circle；Compare the actual center of circle and the preferable center of circle
Coordinate can obtain the linear position error that rotary axis of machine tool connects error：
Er (x)=P (x)-Pideal(x) (9)
Er (y)=P (y)-Pideal(y) (10)
Wherein, er (x), er (y) are respectively rotary shaft in X, Y-direction linear position error, P (x), and P (y), which is that rotary shaft is actual, to be justified
The X of the heart, Y coordinate, Pideal(x),Pideal(y) it is the X in the preferable rotary shaft center of circle, Y coordinate.
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