CN106524934A - High-precision small modulus gear vision measurement method - Google Patents

High-precision small modulus gear vision measurement method Download PDF

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Publication number
CN106524934A
CN106524934A CN201610995560.4A CN201610995560A CN106524934A CN 106524934 A CN106524934 A CN 106524934A CN 201610995560 A CN201610995560 A CN 201610995560A CN 106524934 A CN106524934 A CN 106524934A
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gear
image
edge
deviation
coordinate
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CN106524934B (en
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汤洁
柴玲玉
魏建杰
石照耀
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Beijing University of Technology
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Beijing University of Technology
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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
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • 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
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/2416—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures of gears

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A high-precision small modulus gear vision measurement method is disclosed. The method is characterized by after a CCD camera is calibrated, carrying out small modulus gear coordinate conversion, outputting an actual physical coordinate of a small modulus gear and calculating a correlation parameter coordinate scale factor, a rotation matrix and a translation matrix; reflecting a space position relation between a gear to be measured and a measurement system in the measurement system; carrying out image processing, wherein a processed object is a small modulus gear edge contour image acquired from a CCD camera 3; and carrying out denoising; then using and carrying out 1/8 sub-pixel edge extraction, extracting an edge point coordinate, carrying out center fitting and acquiring a center coordinate of the image; according to an edge point, acquiring a basic gear parameter, wherein the basic parameter is a tooth number, a mode number, a reference circle diameter and a pressure angle; fitting a standard gear contour curve; and comparing an actually-acquired edge contour curve with a theoretical contour curve so as to acquire a pitch deviation and a tooth profile deviation. The basic gear parameter and quality can be comprehensively analyzed and evaluated.

Description

A kind of high accuracy fine module gear vision measuring method
Technical field
The present invention relates to Precision Inspection and instrument field, and in particular to a kind of high accuracy fine module gear vision measurement Method.
Background technology
The characteristics of fine module gear is due to its high transmission accuracy, is widely used in aviation machine, electronic product, accurate machine In tool, instrument and meter and timing structure.Fine module gear is affected by its physical dimension and mechanical performance, and its measurement difficulty is much Higher than middle gear.With developing rapidly for sophisticated manufacturing, the requirement more and more higher to fine module gear precision, its size Also more and more little, the especially appearance of miniature gears, the measurement to fine module gear propose higher and higher challenge.How to carry The certainty of measurement of high fine module gear, has been increasingly becoming study hotspot in recent years.
Fine module gear tooth socket space is little, gear tooth rigidity is poor, yielding, and center bore problem affects positioning, in actual tooth During wheel measurement, it is difficult to face clamping, it is difficult to find measuring basiss, in actual clamping workpiece, especially to some without The gear workpieces centre of gyration of mandrel is often misaligned with the centre of gyration of gear measuring center, setting-up eccentricity to pitch error and The measurement result of tooth profile error etc. brings directly impact, and wherein, the eccentric impact to tooth pitch is maximum, and setting-up eccentricity is with nearly two Relationship affect again total cumulative pitch error, it is impossible to measure the accurate deviation of projects.
Machine vision (Machine Vision), is one and can obtain automatically one or more target object image, to institute The various features amount for obtaining image is processed, analyzed and is measured, and makes qualitative analyses and quantitative interpretation to measurement result, from And obtain certain system for recognizing and making corresponding decision of relevant target object.Machine vision measuring system precision and optical system System precision, camera resolution, camera calibration technology, image processing algorithm etc. are closely related.
The content of the invention
For solving the technical problem that proposes in background technology, the present invention proposes a kind of high accuracy fine module gear vision and surveys The gear graph picture of acquisition is carried out 1/8 sub-pixel edge extraction by amount method, then carries out reverse to the basic parameter of gear, right Tested gear carries out centralized positioning, obtains the circular pitch deviation and total profile deviation of gear.
The present invention is realized using following technological means：
A kind of high accuracy fine module gear vision measuring method, realizes a kind of regarding for high accuracy fine module gear for the method Feel measuring system.
1) measuring system includes LED light source 1, scaling board 2, CCD camera 3, camera lens 4, the regulation of PC ends 5, camera position Frame 6, turntable 7, are built to pilot system by test requirements document；LED light source 1 is placed on turntable 7, and scaling board 2 is positioned over LED light On source 1, gear under test is arranged on scaling board 2, the alignment gear under test of camera lens 4 of CCD camera 3；CCD camera 3 is arranged on camera On position adjusting bracket 6, gear under test is fine module gear.PC ends 5 are connected with turntable 7 and CCD camera 3 respectively.
2) measuring system obtains the image that fine module gear has edge contour by CCD camera 3, by the side for collecting The image of edge profile is to PC ends 5；
3) CCD camera 3 is demarcated, and carries out the conversion of fine module gear coordinate, exports the actual physics coordinate of fine module gear, Carry out the calculating of relevant parameter coordinate scale factor, spin matrix and translation matrix.In reflected measurement system, gear under test and survey Spatial relation between amount system.For inclining between CCD camera 3 and turntable 7 in fine module gear vision detection system Oblique problem, inclines to measure to which and calculates and demarcate；
4) carry out image procossing, process to seeming the fine module gear edge contour for coming collected from CCD camera 3 Image, then Image semantic classification denoising carry out 1/8 sub-pixel edge extraction using halcon development boards, extract marginal point Coordinate, carries out center fitting, tries to achieve the centre coordinate of image, obtains Basic parameters of gear according to marginal point, and basic parameter is tooth Number, modulus, reference diameter, pressure angle, fit standard gear profile curve, by the edge contour curve for actually obtaining and theory Contour curve is contrasted, and obtains circular pitch deviation and total profile deviation.
The step 1), 4) measurement of Basic parameters of gear, circular pitch deviation and total profile deviation will carry out 1/8 sub-pix side Edge is carried out after extracting.
As a result of above-mentioned technical proposal, the invention has the beneficial effects as follows：
In a kind of high accuracy fine module gear vision measurement, the accuracy for measurement result is provided and is effectively ensured.For Fine module gear carries out circular pitch deviation and total profile deviation measurement, and more accurately the transmission quality of fine module gear can be commented Valency.
Description of the drawings
A kind of flow processs of high accuracy fine module gear vision measuring method of Fig. 1.
Fig. 2 transmission error measuring system block diagrams.
Fig. 3 fine module gears sub-pixel edge extracts image.
Fig. 4 total profile deviation measuring principle figures.
Fig. 5 circular pitch deviation measuring principle figures.
Specific embodiment
For becoming apparent from the objects, technical solutions and advantages of the present invention, below in conjunction with drawings and Examples to the present invention It is described further.Illustrate for explaining the inventive method and embodiment.
A kind of flow process of high accuracy fine module gear vision measuring method of the present invention is as shown in figure 1, the concrete reality of the present invention Apply step as follows：
First, the high accuracy fine module gear vision measurement system structure of the present invention is illustrated with reference to Fig. 2.The measuring system bag Include light source (LED red-light sources, and light source adapter PD3-3024-3-PI, light intensity can be adjusted), (precision is 1 μm to scaling board Photoetching scaling board), CCD camera (Basler Ace series face battle array photographic head, model：AcA3800-10gm, 10,000,000 pixels, point Resolution H*V pixels：3856*2764, sensitive chip Aptina MT9J003, chip read：CMOS, rolling shutter, chip chi It is very little：1/2.3 " (6.44*4.62), Pixel Dimensions (μm)：1.67*1.67, frame rate (fps)：10, power：3.5W, weight： 90g.), camera lens (MORITEX brands, MML-5M ultra high-definition telecentric lens, support 3.34 μm/pixel it is even lower, support 2/3 " The space of a whole page, iris aperture, the depth of field are adjustable, model MML03-HR110D-5M1, optical magnification：0.3), computer and Halcon development boards, measure device and build.
The field range of this measuring system：21.47*15.40 (mm), physical accuracy：(4.65*4.68 μm), sub- through 1/8 Pixel edge extraction comparison reliability, is obtained about 0.6 μm of theoretical system precision 4.65/8, less than 10mm visual fields, sub-pix side Edge accuracy of detection is up to 1 μm.
The first step, shoots 8 circular holes on scaling board, and the physics relative position relation between recording, by taking the photograph Camera records the image of each position.The collection for completing experimental data is shot repeatedly for 8 circular holes.Using ellipse fitting generation Code is processed to the view data for gathering.Record multiple position and respectively demarcate hole experimental data.On the basis of above-mentioned data The calculating of each hole major axis variance, short axle variance, major axis average, short axle average inclination angle average and angle of inclination average is carried out.
In order to calculate the outer parameter of demarcation, needs select multiple characteristic points in calibrating block, then extract feature dot image and sit Mark.From data analysiss above, the tilt angle ranges of platform, demarcate on basis in tradition, need to add when calculating One inclination angle is corrected.The coordinate figure for calculating needs to be multiplied by the cosine value at angle of inclination as correction value；
Wherein, being demarcated to the system have been video camera tradition using precision photolithography scaling board, reality is carried out from different circular holes Test, the data to collecting are analyzed contrast, draw the result of calculation of scale factor, obtain the ratio of the imaging system eventually The factor：
Scale factor=physical size/number of pixels；
Second step, shoots fine module gear picture, adjusts the intensity of light source and time of exposure, obtain with clear in shooting process The picture of clear edge contour, is transferred to PC ends, Basler Ace camera control software collection pictures by USB3.0 interfaces；
3rd step, picture carry out pretreatment, remove noise, and pass through camera calibration correcting image.Obtain relatively accurate And the image with sharp edge profile.
Wherein, eliminate noise operator：mean_image binomial_filter；Smoothed image and and preservation edge： anisotropic_diffusion
4th step, carries out 1/8 sub-pixel edge extraction using halcon development boards, respectively aperture axis is entered with gear edge Row sub-pixel edge is extracted.
Call operator edges_sub_pix (Image:Edges:Filter,Alpha,Low,High:) accurate sub-pix Edge extracting.
Then gear centre extraction is carried out, is adopted and be there is high-precision threshold values centroid method to carry out tooth relative to common centroid method Wheel center extraction, gear centre (x0, y0).Center (x is carried out to gear edge0, y0) extract, the center of circle is carried out to aperture axis then (x01, y01) fitting, determine gear centre position, and try to achieve the deviation of gear centre and the center of circle.
Based on gear centre coordinate, tooth is obtained by smallest_circle and inner circle operators first Wheel radius of addendum daWith root radius dfInformation.
According to gear teeth tips radius of circle daWith root radius df, modulus m is tried to achieve,
Wherein,
Obtained by upper two formula：z1Represent the number of teeth.
For modulus m<1 gear, addendum coefficientTop coefficient c*=0.35,
The modulus m of gear is standard value, and the m values that Jing above formulas are calculated are near the mark value.The standard value being close to is substituted into into reference circle meter Formula is calculated, if d≤dfOr d >=da, approximation to be re-fetched.
5th step, calculates total profile deviation and circular pitch deviation, for contactless measuring method, more using based on right angle seat Target involute evaluation model.
Involute regard as straight line along a certain circumference make pure rolling when, the track of the Points on Straight Line.It is mathematically any The equation of locus of any is represented all with equation：
F (x, y)=0
K(xk, yk) it is a bit on involute,For involute starting point and the angle in x-axis direction, rbFor base radius,For the involute angle of spread, αkFor pressure angle, θkFor the angle of spread of involute AK sections, it is known that：
Obtain,
Simplified：
On involute, any point is substituted into, and can be obtained：
Base radius is corresponding one with each point P (x, y) on involute profileOn collection involute, n point can be obtained ArriveIt is determined that maximumAnd minimumTooth profile total deviation is：
According to roller gear row accuracy standard ISO 1328-1:2013 (E) regulations, individual circular pitch error fpiRefer to and holding level with both hands Algebraic step between the actual tooth pitch measured on the gear measurement circle in face and theory of correspondences tooth pitch；Tooth pitch Accumulated deviation Fpi；Tooth pitch Accumulation total deviation Fp:Fp=maxFpi-minFpi。
Detection circle can be done by being calculated reference diameter, and gear teeth gear teeth curve intersection, according to known reference circle Diameter, can obtain on reference circle theoretical tooth pitch P, and then the surveyed data of adjacent two flank profil in the same direction are carried out curve fitting draws which Involute equation.
Gone out by examples detailed above analysis and summary, present approach provides a kind of high accuracy fine module gear vision measurement side Method, high-precision hardware system are the premise of the accuracy of measurement, using ripe accurate camera calibration technology, 1/8 sub- Pixel edge detection technique and image processing algorithm provide guarantee for accurate measurement, can more fully to Basic parameters of gear It is analyzed with quality and evaluates.The above-mentioned explanation to representative instance not to limit the present invention, without departing substantially from the present invention In the case of can modify and improve, its scope is defined in claims and equivalent.

Claims (3)

1. a kind of high accuracy fine module gear vision measuring method, it is characterised in that：Realize the method for a kind of high accuracy it is little Gear vision measurement system；
Step 1 measuring system includes LED light source (1), scaling board (2), CCD camera (3), camera lens (4), PC ends (5), phase seat in the plane Adjusting bracket (6), turntable (7) is put, pilot system is built by test requirements document；LED light source (1) is placed on turntable (7), mark Fixed board (2) is positioned on LED light source (1), and gear under test is arranged on scaling board (2), and camera lens (4) alignment of CCD camera (3) is treated Survey gear；CCD camera (3) is arranged in camera position adjusting bracket (6), and gear under test is fine module gear；PC ends (5) are respectively It is connected with turntable (7) and CCD camera (3)；
Step 2 measuring system obtains the image that fine module gear has edge contour by CCD camera (3), by what is collected The image of edge contour is to PC ends (5)；
Step 3CCD camera (3) is demarcated, and carries out the conversion of fine module gear coordinate, and the actual physics for exporting fine module gear are sat Mark, carries out the calculating of relevant parameter coordinate scale factor, spin matrix and translation matrix；In reflected measurement system, gear under test Spatial relation between measuring system；For CCD camera (3) in fine module gear vision detection system and turntable (7) Between tilt problem, which is inclined to measure calculate and demarcate；
Step 4 carries out image procossing, process to seeming the fine module gear edge wheel for coming collected from CCD camera (3) Then wide image, Image semantic classification denoising carry out 1/8 sub-pixel edge extraction using halcon development boards, extract edge Point coordinates, carries out center fitting, tries to achieve the centre coordinate of image, obtains Basic parameters of gear according to marginal point, and basic parameter is The number of teeth, modulus, reference diameter, pressure angle, fit standard gear profile curve, by the edge contour curve for actually obtaining and reason Contrast by contour curve, obtain circular pitch deviation and total profile deviation.
2. a kind of high accuracy fine module gear vision measuring method according to claim 1, it is characterised in that：The step 1, the measurement of Basic parameters of gear, circular pitch deviation and total profile deviation will be carried out after step 4 carries out 1/8 sub-pixel edge extraction.
3. a kind of high accuracy fine module gear vision measuring method according to claim 1, it is characterised in that：
The first step, shoots 8 circular holes on scaling board, and the physics relative position relation between recording, by video camera Record the image of each position；The collection for completing experimental data is shot repeatedly for 8 circular holes；Using ellipse fitting code pair The view data of collection is processed；Record multiple position and respectively demarcate hole experimental data；Carry out on the basis of above-mentioned data The calculating of each hole major axis variance, short axle variance, major axis average, short axle average inclination angle average and angle of inclination average；
In order to calculate the outer parameter of demarcation, needs select multiple characteristic points in calibrating block, then extract feature dot image and sit Mark；From data analysiss above, the tilt angle ranges of platform, demarcate on basis in tradition, need to add when calculating One inclination angle is corrected；The coordinate figure for calculating needs to be multiplied by the cosine value at angle of inclination as correction value；
Wherein, being demarcated to the system have been video camera tradition using precision photolithography scaling board, reality is carried out from different circular holes Test, the data to collecting are analyzed contrast, draw the result of calculation of scale factor, obtain the ratio of the imaging system eventually The factor：
Scale factor=physical size/number of pixels；
Second step, shoots fine module gear picture, adjusts the intensity of light source and time of exposure, obtain with clear side in shooting process The picture of edge profile, is transferred to PC ends, Basler Ace camera control software collection pictures by USB3.0 interfaces；
3rd step, picture carry out pretreatment, remove noise, and pass through camera calibration correcting image；Obtain relatively accurate and have There is the image of sharp edge profile；
Wherein, eliminate noise operator：mean_image binomial_filter；Smoothed image and and preservation edge： anisotropic_diffusion
4th step, carries out 1/8 sub-pixel edge extraction using halcon development boards, carries out Asia to aperture axis and gear edge respectively Pixel edge is extracted；
Call operator edges_sub_pix (Image:Edges:Filter,Alpha,Low,High:) accurate sub-pixel edge Extract；
Then gear centre extraction is carried out, is adopted and be there is high-precision threshold values centroid method to carry out in gear relative to common centroid method The heart is extracted, gear centre (x0, y0)；Center (x is carried out to gear edge0, y0) extract, the center of circle (x is carried out to aperture axis then01, y01) fitting, determine gear centre position, and try to achieve the deviation of gear centre and the center of circle；
Based on gear centre coordinate, gear teeth is obtained by smallest_circle and inner circle operators first Tip circle radius daWith root radius dfInformation；
According to gear teeth tips radius of circle daWith root radius df, modulus m is tried to achieve,
Wherein,
d a = d + 2 h a = m ( z 1 + 2 h a * ) ;
d f = d - 2 h f = m ( z 1 - 2 h a * - 2 c * )
Obtained by upper two formula：z1Represent the number of teeth；
For modulus m<1 gear, addendum coefficientTop coefficient c*=0.35,
m = d a - d f 4.7
The modulus m of gear is standard value, and the m values that Jing above formulas are calculated are near the mark value；The standard value being close to is substituted into into reference circle meter Formula is calculated, if d≤dfOr d >=da, approximation to be re-fetched；
5th step, calculates total profile deviation and circular pitch deviation, for contactless measuring method, more using based on rectangular coordinate Involute evaluation model；
Involute regard as straight line along a certain circumference make pure rolling when, the track of the Points on Straight Line；Mathematically any point Equation of locus represent all with equation：
F (x, y)=0
K(xk, yk) it is a bit on involute,For involute starting point and the angle in x-axis direction, rbFor base radius,For The involute angle of spread, αkFor pressure angle, θkFor the angle of spread of involute AK sections, it is known that：
Obtain,
Simplified：
On involute, any point is substituted into, and can be obtained：
Base radius is corresponding one with each point P (x, y) on involute profileOn collection involute, n point can be obtainedIt is determined that maximumAnd minimumTooth profile total deviation is：
According to roller gear row accuracy standard ISO 1328-1:2013 (E) regulations, individual circular pitch error fpiRefer in transverse plane Algebraic step between the actual tooth pitch measured on gear measurement circle and theory of correspondences tooth pitch；Tooth pitch Accumulated deviation Fpi；Tooth pitch is accumulated Total deviation Fp:Fp=maxFpi-minFpi；
Detection circle can be done by being calculated reference diameter, and gear teeth gear teeth curve intersection, according to known reference diameter, Theoretical tooth pitch P can be obtained on reference circle, then the surveyed data of adjacent two flank profil in the same direction are carried out curve fitting show which is gradually opened Line equation.
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