CN105627954B - Angle measurement method, device and angle adjusting method, device - Google Patents
Angle measurement method, device and angle adjusting method, device Download PDFInfo
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- CN105627954B CN105627954B CN201510975930.3A CN201510975930A CN105627954B CN 105627954 B CN105627954 B CN 105627954B CN 201510975930 A CN201510975930 A CN 201510975930A CN 105627954 B CN105627954 B CN 105627954B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a kind of angle measurement method, include the following steps: to obtain the target point on two shaft movement mechanisms along the X-direction of two shaft movement mechanisms, the motion profile of Y direction；Calculate target point along the x axis, the x-axis of imaging plane coordinate system, the first angle of y-axis and the second angle of the motion profile of Y direction and camera, the first angle and the second angle are respectively the angle of the X-direction of camera and two shaft movement mechanisms, Y direction.The present invention also provides a kind of angle adjusting method, the first angle and the second angle calcu-lation obtained according to angle measurement method measurement obtains adjusting angle, and according to the setting angle for adjusting angular adjustment camera.The present invention also provides a kind of angle measuring device and angle regulating devices.Using the embodiment of the present invention, it is capable of the angle of precise measurement camera and movement mechanism, and the adjustment camera of the angle based on measurement is to guarantee that camera and movement mechanism meet certain position relation.
Description
Technical field
The present invention relates to field of industry detection more particularly to angle measurement methods, device and angle adjusting method, device.
Background technique
In AOI (Automatic Optic Inspection, automatic optics inspection) detection device, generally include to image
Head and movement mechanism.Under normal circumstances, it can guarantee some of camera and movement mechanism by mechanical precision and installation method
Direction is at certain position relation.But at following three kinds: first is that not being directly connected between camera and movement mechanism
Mechanism；Second is that camera installation machinery needs to move；Third is that camera mounting device precision is not high enough, then it can not pass through mechanical essence
Degree and installation method guarantee the positional relationship of the two.
Summary of the invention
In view of the above-mentioned problems, the embodiment of the present invention provides angle measurement method, device and angle adjusting method, device, energy
The angle of enough precise measurement camera and movement mechanism, and the adjustment camera of the angle based on measurement is to guarantee camera and movement
Mechanism meets certain position relation, meets requirement.
The embodiment of the present invention provides a kind of angle measurement method, includes the following steps:
Obtain by camera record a target point on two shaft movement mechanisms before two shaft movement mechanism is mobile and
X-direction, the Y direction along two shaft movement mechanism move the location information image after a preset distance respectively；
According to location information image of the target point before two shaft movement mechanism is mobile and after mobile, obtain described
The movement of X-direction, Y direction along two shaft movement mechanism of the target point in any one of location information image
Track；
The target point is calculated along the X-direction of two shaft movement mechanism, the motion profile of Y direction and the position
The x-axis of the plane coordinate system of information image, the first angle of y-axis and the second angle, first angle and the second angle difference
For the angle of the X-direction of the camera and two shaft movement mechanism, Y direction；Wherein, the x of the plane coordinate system
Axis is parallel with the Xc axis of the coordinate system of the camera, and parallel with the horizontal border line of location information image before movement；Institute
State the Y of the y-axis of plane coordinate system and the coordinate system of the cameraCAxis is parallel, and with the location information image before the movement
Vertical edges boundary line it is parallel.
As an improvement of the above scheme, it obtains by the target point on camera two shaft movement mechanisms of record described in institute
State two shaft movement mechanisms it is mobile before and after moving a preset distance along X-direction, the Y direction of two shaft movement mechanisms respectively
Before location information image, further includes:
Carry out camera calibration.
As an improvement of the above scheme, the target point is located in a measurement plate, and the measurement plate is fixed on two axis
On movement mechanism.
As an improvement of the above scheme, target point institute described in the location information image before two shaft movement mechanism is mobile
Position be first position point；
The location information image according to the target point before two shaft movement mechanism is mobile and after mobile, obtains
The target point in any one of location information image along the X-direction of two shaft movement mechanism, Y direction
Motion profile specifically includes:
Label is with two shaft movement mechanism along X-axis side in the location information image before two shaft movement mechanism is mobile
To the corresponding second position point of aiming spot, third described in the location information image after the mobile preset distance of, Y direction
Location point；
The straightway for connecting the first position point and the second position point and being formed is the target point along described two
The motion profile of the X-direction of shaft movement mechanism connects the straight line that the first position point is formed with the third place point
Section is motion profile of the target point along the Y direction of two shaft movement mechanism.
The embodiment of the present invention also provides a kind of angle measuring device, comprising:
Position logging modle is transported by the target point on camera two shaft movement mechanisms of record in two axis for obtaining
Before motivation structure is mobile and respectively along X-direction, the Y direction of two shaft movement mechanism move a preset distance after position
Information image；
Motion profile obtains module, for according to the target point before two shaft movement mechanism is mobile and after mobile
Location information image, obtain the target point in any one of location information image along two shaft movement mechanism
The motion profile of X-direction, Y direction；
Angle calcu-lation module, for calculating the target point along the X-direction of two shaft movement mechanism, Y direction
The x-axis of plane coordinate system, the first angle of y-axis and the second angle of motion profile and the location information image, described first
Angle and the second angle are respectively the angle of the X-direction of the camera and two shaft movement mechanism, Y direction；Wherein,
The x-axis of the plane coordinate system is parallel with the Xc axis of the coordinate system of the camera, and with the location information image before movement
Horizontal border line is parallel；The Y of the coordinate system of the y-axis of the plane coordinate system and the cameraCAxis is parallel, and with the movement
The vertical edges boundary line of preceding location information image is parallel.
As an improvement of the above scheme, the angle measuring device further include:
Demarcating module, for carrying out camera calibration；
The position logging modle is further used for obtaining one recorded by calibrated camera on two shaft movement mechanisms
X-direction, the Y direction along two shaft movement mechanism move target point before two shaft movement mechanism is mobile and respectively
Location information image after one preset distance.
As an improvement of the above scheme, target point institute described in the location information image before two shaft movement mechanism is mobile
Position be first position point；
The motion profile obtains module
Marking unit is transported for label in the location information image before two shaft movement mechanism is mobile with two axis
Aiming spot described in the location information image of motivation structure along the x axis, after the mobile preset distance of Y direction corresponding the
Two location points, the third place point；
Connection unit, the straightway formed for connecting the first position point and the second position point are the mesh
Punctuate connects the first position point and the third place point along the motion profile of the X-direction of two shaft movement mechanism
And the straightway formed is motion profile of the target point along the Y direction of two shaft movement mechanism.
The embodiment of the present invention also provides a kind of angle adjusting method, includes the following steps:
S1, the first angle and the second angle are obtained using above-mentioned angle measurement method measurement；
S2, it is obtained adjusting angle according to first angle and the second angle calcu-lation, and according to the adjusting angle to institute
The setting angle for stating camera is adjusted.
As an improvement of the above scheme, the setting angle of the camera is adjusted according to the adjusting angle
Afterwards, circulation executes above-mentioned steps S1~S2, until first angle is calculated or the second angle is 0 °.
The embodiment of the present invention also provides a kind of angle regulating device, comprising:
Above-mentioned angle measuring device obtains the first angle and the second angle for measuring；And
Angle adjustment module adjusts angle for obtaining according to first angle and the second angle calcu-lation, and according to institute
Adjusting angle is stated the setting angle of the camera is adjusted.
Angle measurement method provided in an embodiment of the present invention, device and angle adjusting method, device pass through and obtain two axis fortune
A target point on motivation structure is along the X-direction of two shaft movement mechanism, the motion profile of Y direction, then, described in calculating
First angle of the x-axis of the imaging plane coordinate system of target point motion profile along the x axis and camera, the as described camera shooting
The angle of head and the X-direction of two shaft movement mechanism；Target point motion profile along the y axis and camera at
The angle of the Y direction of second angle of the y-axis of photo coordinate system, the as described camera and two shaft movement mechanism,
Finally, according to first angle and the second angle calcu-lation obtain adjust angle, so as to according to the adjusting angle to described
The setting angle of camera is adjusted.Technical solution provided in an embodiment of the present invention being capable of camera and institute described in precise measurement
The X-direction of two shaft movement mechanisms and the angle of Y direction are stated, and the adjustment camera of the angle based on measurement is to guarantee described take the photograph
As the X-direction or Y direction of head and two shaft movement mechanism meet certain position relation.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow diagram of angle measurement method provided in an embodiment of the present invention.
Fig. 2 is the structural schematic diagram of the entire mechanism before two shaft movement mechanism provided in an embodiment of the present invention is mobile.
Fig. 3 is the schematic diagram of the first location information image provided in an embodiment of the present invention obtained based on Fig. 2.
Fig. 4 be two shaft movement mechanism provided in an embodiment of the present invention along its X-direction move a preset distance after it is entire
The structural schematic diagram of mechanism.
Fig. 5 is the schematic diagram of the second location information image provided in an embodiment of the present invention obtained based on Fig. 4.
Fig. 6 be two shaft movement mechanism provided in an embodiment of the present invention along its Y direction move a preset distance after it is entire
The structural schematic diagram of mechanism.
Fig. 7 is the schematic diagram of the third place information image provided in an embodiment of the present invention obtained based on Fig. 6.
Fig. 8 is the schematic diagram provided in an embodiment of the present invention for obtaining motion profile and calculating angle.
Fig. 9 is the structural schematic diagram of angle measuring device provided in an embodiment of the present invention.
Figure 10 is the structural schematic diagram that motion profile shown in Fig. 9 obtains module.
Figure 11 is the flow diagram of angle adjusting method provided in an embodiment of the present invention.
Figure 12 is the structural schematic diagram of angle regulating device provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Angle measurement method provided in an embodiment of the present invention, device and angle adjusting method, device, being capable of precise measurement institute
The X-direction of camera and two shaft movement mechanism and the angle of Y direction are stated, and the angle based on measurement adjusts camera
To guarantee that X-direction or the Y direction of the camera and two shaft movement mechanism meet certain position relation.Separately below
It is described in detail.
Referring to Fig. 1, the embodiment of the present invention provides a kind of angle measurement method, including step S11~S13, it is specific as follows:
S11 is obtained by the target point on camera two shaft movement mechanisms of record before two shaft movement mechanism is mobile
And respectively along X-direction, the Y direction of two shaft movement mechanism move a preset distance after location information image.
Preferably, before using camera record image, camera calibration can be first carried out, is specific in order to obtain
And accurate internal reference and outer parameter, so as to allow the image restoring of the camera record at true planar, and it is unlikely to occur
Distortion, wherein the camera calibration method has very much, can be divided mainly into three classes: tradition calibration, active vision calibration and certainly
Calibration, the present invention do not do specific restriction.
Referring to Figure 2 together, in embodiments of the present invention, the camera 11 is set up on two shaft movement mechanism 12
Side, and record the location information image of a target point 20 on two shaft movement mechanism, wherein the target point 20 is located at one and surveys
On template 13, the measurement plate 13 is fixed on two shaft movement mechanism 12, the measurement plate 13 can for scaling board or its
He is used to examine the datum plane measurer of measurement work, and the present invention does not do specific restriction.
In embodiments of the present invention, it obtains and the target point 20 is recorded in two axis by the calibrated camera 11
After moving a preset distance along X-direction, the Y direction of two shaft movement mechanism 12 before movement mechanism 12 is mobile and respectively
Location information image, specifically:
Firstly, Fig. 3 is the schematic diagram of the first location information image obtained based on Fig. 2 also referring to Fig. 3, specifically,
Obtain the first location information image 31 that the target point 20 is recorded by the calibrated camera 11, wherein described first
Point where target point 20 described in location information image 31 is A point.
Then, referring to Figure 4 together and Fig. 5, Fig. 4 are that two shaft movement mechanism along its X-direction moves a pre- spacing
The schematic diagram of entire mechanism from after, Fig. 5 are the schematic diagrames of the second location information image obtained based on Fig. 4, specifically, in institute
It states after two shaft movement mechanisms 12 move a preset distance along the X-direction of two shaft movement mechanism 12, obtains by calibrated
The camera 11 records the second location information image 32 of the target point 20, and two shaft movement mechanism 12 is back to
Position before movement, wherein the point where target point 20 described in the second location information image 32 is B point, described predetermined
Distance is the distance in any side boundary line less than the 31 midpoint A of first location information image to image.
Finally, referring to Figure 6 together and Fig. 7, Fig. 6 are that two shaft movement mechanism along its Y direction moves a pre- spacing
The schematic diagram of entire mechanism from after, Fig. 7 are the schematic diagrames of the third place information image obtained based on Fig. 6, specifically, in institute
It states after two shaft movement mechanisms 12 move a preset distance along the Y direction of two shaft movement mechanism 12, obtains by calibrated
The camera 11 records the third place information image 33 of the target point 20, and two shaft movement mechanism 12 is back to
Position before movement, wherein the point where target point 20 described in the third place information image 33 is C point.
S12 is obtained according to location information image of the target point before two shaft movement mechanism is mobile and after mobile
The target point in any one of location information image along the X-direction of two shaft movement mechanism, Y direction
Motion profile.
Also referring to Fig. 8, in embodiments of the present invention, specifically include:
It is marked in the first location information image 31 corresponding with the point position B in the second location information image 32
B ' point, C ' point corresponding with the point position C in the third place information image 33；
Connect A point with B ' and formed straightway be the target point 20 along the X-axis side of two shaft movement mechanism 12
To motion profile, connection A point with C ' and formed straightway be the target point 20 along two shaft movement mechanism 12 Y
The motion profile of axis direction.
It is understood that the present invention can also be in the second location information image 32 or the third place information image 33
Middle to obtain the target point 20 along the X-direction of two shaft movement mechanism 12, the motion profile of Y direction, the present invention is at this
In without specifically describe.
S13, calculate the target point along the X-direction of two shaft movement mechanism, Y direction motion profile with it is described
The x-axis of the plane coordinate system of location information image, the first angle of y-axis and the second angle, first angle and the second angle
The angle of the X-direction of the respectively described camera and two shaft movement mechanism, Y direction.
Also referring to Fig. 8, in embodiments of the present invention, the first location information image 31 is rectangular image, with A point
Plane coordinate system, the X of the x-axis of the plane coordinate system and the coordinate system of the calibrated camera 11 are established for originCAxis
In parallel, also parallel with the horizontal border line of the first location information image 31, the y-axis of the plane coordinate system with it is calibrated
The Y of the coordinate system of the camera 11CAxis is parallel, also parallel with the vertical edges boundary line of the first location information image 31, then
The step S13 specifically:
Firstly, according to the plane coordinate system established using A point as origin, the coordinate difference of A point, and is obtained at B ' at C '
For (0,0), (x1, y1) and (x2, y2)。
Then, the first angle of the x-axis of straightway AB ' and the plane coordinate system is calculatedAnd straight line
Second angle of the y-axis of section AC ' and the plane coordinate systemFor the coordinate of the camera 11
The X of systemCThe angle of the X-axis of axis and two shaft movement mechanism 12,For the Y of the coordinate system of the camera 11CAxis
With the angle of the Y-axis of two shaft movement mechanism 12.
Correspondingly, the present invention also provides a kind of angle measuring devices, and angle measurement side provided by the above embodiment can be performed
All processes of method.
Referring to Fig. 9, being the structural schematic diagram of angle measuring device provided in an embodiment of the present invention.The angle measurement dress
Setting 100 includes demarcating module 110, position logging modle 120, motion profile acquisition module 130 and angle calcu-lation module 140, tool
Body is as follows:
The demarcating module 110, for carrying out camera calibration.
In embodiments of the present invention, the demarcating module 110 carries out camera calibration, is specific and accurate in order to obtain
Internal reference and outer parameter so as to allow the image restoring of the camera record at true planar, and are unlikely to be distorted,
In, the camera calibration method has very much, it can be divided mainly into three classes: tradition calibration, active vision calibration and self-calibration, this
Specific restriction is not done in invention.
The position logging modle 120 is recorded on two shaft movement mechanisms for obtaining by the calibrated camera
One target point moves before two shaft movement mechanism is mobile and respectively along the X-direction of two shaft movement mechanism, Y direction
Location information image after a dynamic preset distance.
Referring to Figure 2 together, in embodiments of the present invention, the camera 11 is set up on two shaft movement mechanism 12
Side, and record the location information image of a target point 20 on two shaft movement mechanism 12, wherein the target point 20 is located at one
In measurement plate 13, the measurement plate 13 is fixed on two shaft movement mechanism 12, the measurement plate 13 can for scaling board or
Other are used to examine the datum plane measurer of measurement work, and the present invention does not do specific restriction.
In embodiments of the present invention, the position logging modle 120 is specifically used for:
Firstly, Fig. 3 is the schematic diagram of the first location information image obtained based on Fig. 2 also referring to Fig. 3, specifically,
The position logging modle 120 obtains the first location information figure that the target point 20 is recorded by the calibrated camera 11
As 31, wherein the point where target point 20 described in the first location information image 31 is A point.
Then, referring to Figure 4 together and Fig. 5, Fig. 4 are that two shaft movement mechanism along its X-direction moves a pre- spacing
The schematic diagram of entire mechanism from after, Fig. 5 is the schematic diagram of the second location information image obtained based on Fig. 4, specifically, described
Position logging modle 120 obtains after two shaft movement mechanism 12 moves a preset distance along the x axis by calibrated institute
The second location information image 32 that camera 11 records the target point 20 is stated, and two shaft movement mechanism 12 is back to shifting
Position before dynamic, wherein the point where target point described in the second location information image 32 is B point, the preset distance
For the distance less than A point in the first location information image 31 to any side boundary line of image.
Finally, referring to Figure 6 together and Fig. 7, Fig. 6 are that two shaft movement mechanism along its Y direction moves a pre- spacing
The schematic diagram of entire mechanism from after, Fig. 7 is the schematic diagram of the third place information image obtained based on Fig. 6, specifically, described
Position logging modle 120 obtains after two shaft movement mechanism 12 moves a preset distance along the y axis by calibrated institute
The third place information image 33 that camera 11 records the target point 20 is stated, and two shaft movement mechanism 12 is back to shifting
Position before dynamic, wherein the point where target point 20 described in the third place information image 33 is C point.
The motion profile obtains module 130, for according to the target point before two shaft movement mechanism is mobile and
Location information image after movement obtains the target point transporting in any one of location information image along two axis
The motion profile of the X-direction of motivation structure, Y direction.
Also referring to Fig. 8 and Figure 10, in embodiments of the present invention, the motion profile obtains module 130 and specifically includes:
Marking unit 131, for the label in the first location information image 31 and the second location information image
Corresponding B ' the point in B point position, C ' point corresponding with the point position C in the third place information image 33 in 32；
Connection unit 132, for connect A point with B ' and the straightway that is formed is that the target point 20 is transported along two axis
The motion profile of the X-direction of motivation structure 12, connection A point with C ' and formed straightway be the target point 20 along described two
The motion profile of the Y direction of shaft movement mechanism 12.
It is understood that the present invention can also be in the second location information image 32 or the third place information image 33
Middle to obtain the target point 20 along the X-direction of two shaft movement mechanism 12, the motion profile of Y direction, the present invention is at this
In without specifically describe.
The angle calcu-lation module 140, for calculating the target point along X-direction, the Y-axis of two shaft movement mechanism
The x-axis of plane coordinate system, the first angle of y-axis and the second angle of the motion profile in direction and the location information image, institute
It states the first angle and the second angle is respectively the folder of the X-direction of the camera and two shaft movement mechanism, Y direction
Angle.
Also referring to Fig. 8, in embodiments of the present invention, the first location information image 31 is rectangular image, with A point
Plane coordinate system, the X of the x-axis of the plane coordinate system and the coordinate system of the calibrated camera 11 are established for originCAxis
In parallel, also parallel with the horizontal border line of the first location information image 31, the y-axis of the plane coordinate system with it is calibrated
The Y of the coordinate system of the camera 11CAxis is parallel, also parallel with the vertical edges boundary line of the first location information image 31, then
The angle calcu-lation module is specifically used for:
Firstly, according to the plane coordinate system established using A point as origin, the coordinate difference of A point, and is obtained at B ' at C '
For (0,0), (x1, y1) and (x2, y2)。
Then, the first angle of the x-axis of straightway AB ' and the plane coordinate system is calculatedAnd straightway
Second angle of the y-axis of AC ' and the plane coordinate systemFor the coordinate system of the camera 11
XCThe angle of the X-axis of axis and two shaft movement mechanism 12,For the Y of the coordinate system of the camera 11CAxis with
The angle of the Y-axis of two shaft movement mechanism 12.
In addition, the present invention also provides a kind of angle adjusting methods.
Figure 11 is please referred to, the embodiment of the present invention also provides a kind of angle adjusting method, including step S1~S2, specifically such as
Under:
S1 obtains the first angle and the second angle using angle measurement method measurement shown in FIG. 1.
S2 obtains adjusting angle according to first angle and the second angle calcu-lation, and according to the adjusting angle to institute
The setting angle for stating camera is adjusted.
Preferably, after the setting angle of the camera 11 is adjusted according to the adjusting angle, circulation is executed
Step S1~S2, until first angle is calculated or the second angle is 0 °, i.e., the described camera 11 is transported with two axis
The X-axis or Y-axis of motivation structure 12 are parallel.At this point, the picture about two shaft movement mechanism 12 that the camera 11 is shot
Clarity be preferably.
In embodiments of the present invention, specifically, in certain direction with angleOrDescribed in adjusting
Then camera 11 recalculates the first angle and the second angle after adjusting, similarly, the first angle after the adjusting or
When the second angle after the adjusting is not zero, according to the first angle after the adjusting or the second angle tune after the adjusting
The angle of the camera 11 is saved, circulation in this way is gone down until the X-axis or Y of the camera 11 and two shaft movement mechanism 12
Axis is parallel, wherein the certain orientation can be to be clockwise or counterclockwise, these can be set according to the actual needs
It sets, the present invention does not do specific restriction.
It is understood that when the X-axis of two shaft movement mechanism 12 and Y-axis it is orthogonal when, first angle with
Second angle is equal, then to the setting angle of the camera 11 be adjusted until be calculated first angle and
Second angle is simultaneously 0, and the present invention is herein without specifically describing.
Correspondingly, the present invention also provides a kind of angle regulating devices, and angle adjusting side provided by the above embodiment can be performed
All processes of method.
Figure 12 is please referred to, the embodiment of the present invention also provides a kind of angle regulating device 200, comprising: angle measuring device 100
And angle adjustment module 250, it is specific as follows:
The angle measuring device 100 obtains the first angle and the second angle for measuring.The wherein angle measurement dress
It sets using angle measuring device 100 shown in Fig. 9.
The angle adjustment module 250 adjusts angle for obtaining according to first angle and the second angle calcu-lation, and
The setting angle of the camera is adjusted according to the adjusting angle.
Preferably, in the angle adjustment module 250 according to the adjusting angle to the setting angle of the camera 11
After being adjusted, circulation executes step S1~S2 of above-mentioned angle adjusting method, until be calculated first angle or
Second angle is 0 °, i.e., the described camera 11 is parallel with the X-axis of two shaft movement mechanism 12 or Y-axis.At this point, the camera
The clarity of 11 pictures about two shaft movement mechanism 12 shot is preferably.
In embodiments of the present invention, specifically, in certain direction with angleOrDescribed in adjusting
Then camera 11 recalculates the first angle and the second angle after adjusting, similarly, the first angle after the adjusting or
When the second angle after the adjusting is not zero, according to the first angle after the adjusting or the second angle tune after the adjusting
The angle of the camera 11 is saved, circulation in this way is gone down until the X-axis or Y of the camera 11 and two shaft movement mechanism 12
Axis is parallel, wherein the certain orientation can be to be clockwise or counterclockwise, these can be set according to the actual needs
It sets, the present invention does not do specific restriction.
It is understood that when the X-axis of two shaft movement mechanism 12 and Y-axis it is orthogonal when, first angle with
Second angle is equal, then to the setting angle of the camera 11 be adjusted until be calculated first angle and
Second angle is simultaneously 0, and the present invention is herein without specifically describing.
Angle measurement method provided in an embodiment of the present invention, device and angle adjusting method, device pass through and obtain two axis fortune
A target point on motivation structure is along the X-direction of two shaft movement mechanism, the motion profile of Y direction, then, described in calculating
First angle of the x-axis of the imaging plane coordinate system of target point motion profile along the x axis and camera, the as described camera shooting
The angle of head and the X-direction of two shaft movement mechanism；Target point motion profile along the y axis and camera at
The angle of the Y direction of second angle of the y-axis of photo coordinate system, the as described camera and two shaft movement mechanism,
Finally, according to first angle and the second angle calcu-lation obtain adjust angle, so as to according to the adjusting angle to described
The setting angle of camera is adjusted.Technical solution provided in an embodiment of the present invention being capable of camera and institute described in precise measurement
The X-direction of two shaft movement mechanisms and the angle of Y direction are stated, and the adjustment camera of the angle based on measurement is to guarantee described take the photograph
As the X-direction or Y direction of head and two shaft movement mechanism meet certain position relation.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated software is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print the software on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain the software, is then stored in computer storage.
In the above-described embodiment, multiple steps or method can be answered in memory and by suitably instructing to hold with storage
Work as understanding, each section of the invention can be realized with hardware, software, firmware or their combination.The software that row system executes
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by software, the software can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (10)
1. a kind of angle measurement method, which comprises the steps of:
It obtains and a target point on two shaft movement mechanisms is recorded before two shaft movement mechanism is mobile and respectively by camera
The location information image after a preset distance is moved along X-direction, the Y direction of two shaft movement mechanism；
According to location information image of the target point before two shaft movement mechanism is mobile and after mobile, the target is obtained
Movement rail along the X-direction of two shaft movement mechanism, Y direction of the point in any one of location information image
Mark；
The target point is calculated along the X-direction of two shaft movement mechanism, the motion profile of Y direction and the location information
The x-axis of the plane coordinate system of image, the first angle of y-axis and the second angle, first angle and the second angle are respectively institute
State the X-direction of camera and two shaft movement mechanism, the angle of Y direction；Wherein, the x-axis of the plane coordinate system with
The Xc axis of the coordinate system of the camera is parallel, and parallel with the horizontal border line of location information image before movement；It is described flat
The Y of the coordinate system of the y-axis of areal coordinate system and the cameraCAxis is parallel, and vertical with the location information image before the movement
Straight flange boundary line is parallel.
2. angle measurement method as described in claim 1, which is characterized in that record the movement of two axis by camera in described obtain
A target point in the mechanism X-direction along two shaft movement mechanisms, Y-axis side before two shaft movement mechanism is mobile and respectively
To before the location information image after a mobile preset distance, further includes:
Carry out camera calibration.
3. angle measurement method as described in claim 1, which is characterized in that the target point is located in a measurement plate, described
Measurement plate is fixed on two shaft movement mechanism.
4. angle measurement method as described in claim 1, which is characterized in that the position letter before two shaft movement mechanism is mobile
Position where ceasing target point described in image is first position point；
The location information image according to the target point before two shaft movement mechanism is mobile and after mobile, obtains described
The movement of X-direction, Y direction along two shaft movement mechanism of the target point in any one of location information image
Track specifically includes:
In the location information image before two shaft movement mechanism is mobile label with two shaft movement mechanism along the x axis, Y
The corresponding second position point of aiming spot, the third place described in location information image after the mobile preset distance of axis direction
Point；
The straightway for connecting the first position point and the second position point and being formed is that the target point is transported along two axis
The motion profile of the X-direction of motivation structure, connecting the straightway that the first position point is formed with the third place point is
Motion profile of the target point along the Y direction of two shaft movement mechanism.
5. a kind of angle measuring device characterized by comprising
Position logging modle, for obtaining by the target point on camera two shaft movement mechanisms of record in the two axis fitness machine
Before structure is mobile and respectively along X-direction, the Y direction of two shaft movement mechanism move a preset distance after location information
Image；
Motion profile obtains module, for the position according to the target point before two shaft movement mechanism is mobile and after mobile
Information image obtains X-axis along two shaft movement mechanism of the target point in any one of location information image
Direction, Y direction motion profile；
Angle calcu-lation module, for calculating the target point along the movement of the X-direction, Y direction of two shaft movement mechanism
The x-axis of plane coordinate system, the first angle of y-axis and the second angle of track and the location information image, first angle
It is respectively the X-direction of the camera and two shaft movement mechanism, the angle of Y direction with the second angle；Wherein, described
The x-axis of plane coordinate system is parallel with the Xc axis of the coordinate system of the camera, and the level with the location information image before movement
Boundary line is parallel；The Y of the coordinate system of the y-axis of the plane coordinate system and the cameraCAxis is parallel, and with before the movement
The vertical edges boundary line of location information image is parallel.
6. angle measuring device as claimed in claim 5, which is characterized in that the angle measuring device further include:
Demarcating module, for carrying out camera calibration；
The position logging modle is further used for obtaining one recorded by the calibrated camera on two shaft movement mechanisms
X-direction, the Y direction along two shaft movement mechanism move target point before two shaft movement mechanism is mobile and respectively
Location information image after one preset distance.
7. angle measuring device as claimed in claim 5, which is characterized in that the position letter before two shaft movement mechanism is mobile
Position where ceasing target point described in image is first position point；
The motion profile obtains module
Marking unit, for label in the location information image before two shaft movement mechanism is mobile and the two axis fitness machine
The corresponding second of aiming spot described in the location information image of structure along the x axis, after the mobile preset distance of Y direction
Set point, the third place point；
Connection unit, the straightway formed for connecting the first position point and the second position point are the target point
Along the motion profile of the X-direction of two shaft movement mechanism, the first position point and the third place point are connected and shape
At straightway be the target point along the Y direction of two shaft movement mechanism motion profile.
8. a kind of angle adjusting method, which comprises the steps of:
S1, the first angle and the second angle are obtained using the described in any item angle measurement method measurements of such as Claims 1-4；
S2, it is obtained adjusting angle according to first angle and the second angle calcu-lation, and is taken the photograph according to the adjusting angle to described
As the setting angle of head is adjusted.
9. angle adjusting method as claimed in claim 8, which is characterized in that according to the adjusting angle to the camera
Setting angle be adjusted after, circulation executes step S1~S2, until first angle is calculated or the second angle is
0°。
10. a kind of angle regulating device characterized by comprising
Such as the described in any item angle measuring devices of claim 5 to 7, the first angle and the second angle are obtained for measuring；And
Angle adjustment module adjusts angle for obtaining according to first angle and the second angle calcu-lation, and according to the tune
The setting angle of the camera is adjusted in section angle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510975930.3A CN105627954B (en) | 2015-12-21 | 2015-12-21 | Angle measurement method, device and angle adjusting method, device |
| PCT/CN2016/096898 WO2017107534A1 (en) | 2015-12-21 | 2016-08-26 | Method and device for measuring angle, and method and device for adjusting angle |
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| CN201510975930.3A CN105627954B (en) | 2015-12-21 | 2015-12-21 | Angle measurement method, device and angle adjusting method, device |
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| CN105627954B (en) * | 2015-12-21 | 2019-05-28 | 广州视源电子科技股份有限公司 | Angle measurement method, device and angle adjusting method, device |
| CN109543665B (en) * | 2017-09-22 | 2020-10-16 | 凌云光技术集团有限责任公司 | Image positioning method and device |
| CN110220471B (en) * | 2019-06-27 | 2023-12-08 | 广西柳钢东信科技有限公司 | Method for detecting erosion degree of molten metal tank |
| CN110561435B (en) * | 2019-09-17 | 2021-04-27 | 北京康视杰视觉技术有限公司 | Method, device and system for guiding manipulator and upper computer |
| CN111664810B (en) * | 2020-05-08 | 2022-01-14 | 河北津西钢铁集团股份有限公司 | Section steel included angle detection and image acquisition device and detection method thereof |
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