CN106951814B - Calculation method of circular grating eccentricity of encoder eccentricity adjustment system - Google Patents

Calculation method of circular grating eccentricity of encoder eccentricity adjustment system Download PDF

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CN106951814B
CN106951814B CN201610002530.9A CN201610002530A CN106951814B CN 106951814 B CN106951814 B CN 106951814B CN 201610002530 A CN201610002530 A CN 201610002530A CN 106951814 B CN106951814 B CN 106951814B
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circular grating
code channel
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王义文
王斐
刘献礼
付鹏强
梅恒
刘永刚
林长友
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Harbin University of Science and Technology
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Abstract

国内目前大多数企业采用人工手动装配的方法，在装配过程中，工人的熟练程度对于产品的装配精度和装配效率影响比较大，产品的质量稳定性不高。随着自动化生产线的广泛应用，这种由工人手动装配的方式越来越不能满足现代化的生产要求。一种用于编码器偏心调整系统的圆光栅偏心计算方法，包括：步骤1、使用CCD工业摄像头拍摄圆光栅码道上均匀分布的八个位置图像；步骤2、对图形进行滤波等预处理；步骤3、特征提取记录特征点坐标值；步骤4、拟合码道基圆，取得基圆横坐标最大值；步骤5、计算圆光栅偏心角位置和偏心值大小。本发明所述的计算及图像处理过程采用VC和OpenCV实现，能够精确计算出编码器圆光栅偏心位置及大小，有效提高编码器调整过程中的调整精度和调整效率，使计算过程高效准确，并且方便与控制系统结合。

Figure 201610002530

At present, most domestic enterprises adopt the method of manual assembly. During the assembly process, the proficiency of workers has a great influence on the assembly accuracy and assembly efficiency of the product, and the quality stability of the product is not high. With the widespread application of automated production lines, this manual assembly method by workers is increasingly unable to meet modern production requirements. A circular grating eccentricity calculation method for an encoder eccentricity adjustment system, comprising: step 1, using a CCD industrial camera to capture images of eight positions evenly distributed on a circular grating code track; step 2, performing preprocessing such as filtering on the graphics; 3. Feature extraction records the coordinate value of the feature point; Step 4, Fitting the base circle of the yard, to obtain the maximum value of the abscissa of the base circle; Step 5, Calculate the position of the eccentric angle of the circular grating and the magnitude of the eccentric value. The calculation and image processing process of the present invention is realized by VC and OpenCV, which can accurately calculate the eccentric position and size of the encoder circular grating, effectively improve the adjustment accuracy and adjustment efficiency in the encoder adjustment process, and make the calculation process efficient and accurate. Easy to combine with control system.

Figure 201610002530

Description

编码器偏心调整系统的圆光栅偏心计算方法Calculation method of circular grating eccentricity of encoder eccentricity adjustment system

技术领域technical field

本发明属于编码器生产领域，特别是一种用于编码器偏心调整系统的圆光栅偏心计算方法。The invention belongs to the field of encoder production, in particular to a circular grating eccentricity calculation method for an encoder eccentricity adjustment system.

背景技术Background technique

光电轴角编码器的光栅码盘安装在编码器主轴上，随主轴转动进行精密分度，主轴系统的工作精度在很大程度上决定了光电轴角编码器的性能和精度，而主轴系统的工作精度则由光栅与主轴各部件的加工精度和光栅与主轴的装配精度来保证。圆光栅码盘正确的装配与调整，可以使光电轴角编码器的零部件的高精度性能充分发挥或使一些零件的缺陷得到补偿。The grating code disc of the photoelectric shaft angle encoder is installed on the main shaft of the encoder, and performs precise indexing with the rotation of the main shaft. The working accuracy of the main shaft system largely determines the performance and accuracy of the photoelectric shaft angle encoder. The working accuracy is guaranteed by the machining accuracy of each part of the grating and the spindle and the assembly accuracy of the grating and the spindle. The correct assembly and adjustment of the circular grating encoder can fully exert the high-precision performance of the parts of the photoelectric shaft angle encoder or compensate the defects of some parts.

国内目前大多数企业采用人工手动装配的方法，在装配过程中，工人的熟练程度对于产品的装配精度和装配效率影响比较大，产品的质量稳定性不高。随着自动化生产线的广泛应用，这种由工人手动装配的方式越来越不能满足现代化的生产要求。编码器光栅自动调整装配系统，不但能够有效地提高装配精度和效率，还可以整合到编码器的自动化生产线中。为了提高编码器光栅自动调整装配系统在编码器圆光栅偏心检测过程中的检测效率和检测精度，便于后续进行偏心调整，提出了一种基于机器视觉用于计算编码器圆光栅偏心位置及大小的方法。At present, most domestic enterprises adopt the method of manual assembly. During the assembly process, the proficiency of workers has a great influence on the assembly accuracy and assembly efficiency of the product, and the quality stability of the product is not high. With the widespread application of automated production lines, this manual assembly method by workers is increasingly unable to meet modern production requirements. The encoder grating automatic adjustment assembly system can not only effectively improve the assembly accuracy and efficiency, but also can be integrated into the encoder automatic production line. In order to improve the detection efficiency and detection accuracy of the encoder grating automatic adjustment assembly system in the encoder grating eccentricity detection process, and facilitate subsequent eccentricity adjustment, a machine vision-based method for calculating the encoder grating eccentricity position and size is proposed. method.

发明内容SUMMARY OF THE INVENTION

根据编码器圆光栅偏心调整过程中的的特点，本发明提出了一种基于机器视觉用于计算编码器圆光栅偏心位置的方法，此方法能够精确计算出编码器圆光栅偏心位置及大小，有效提高编码器调整过程中的调整精度和调整效率。According to the characteristics in the eccentric adjustment process of the encoder circular grating, the present invention proposes a method for calculating the eccentric position of the encoder circular grating based on machine vision. This method can accurately calculate the eccentric position and size of the encoder circular grating, and effectively Improve the adjustment accuracy and adjustment efficiency in the encoder adjustment process.

本发明所采用的技术方案：The technical scheme adopted in the present invention:

一种编码器偏心调整系统的圆光栅偏心计算方法，包括：A circular grating eccentricity calculation method of an encoder eccentricity adjustment system, comprising:

步骤1、使用CCD工业摄像头拍摄圆光栅码道上均匀分布的八个位置图像；Step 1. Use a CCD industrial camera to take images of eight positions evenly distributed on the circular grating codeway;

步骤2、对图像进行滤波等预处理；Step 2. Perform preprocessing such as filtering on the image;

步骤3、特征提取记录特征点坐标值；Step 3, feature extraction records the coordinate value of the feature point;

步骤4、拟合码道基圆，取得基圆横坐标最大值；Step 4. Fit the base circle of the code channel to obtain the maximum value of the abscissa of the base circle;

步骤5、计算圆光栅偏心角位置和偏心值大小；Step 5. Calculate the eccentric angle position and eccentric value of the circular grating;

在步骤1中，所述的圆光栅码道上均匀分布的八个位置图像指的相机每经过45度取一次基圆图像。In step 1, the eight position images evenly distributed on the circular grating code track refer to the camera taking a base circle image every 45 degrees.

在步骤2中，所述的图像处理过程通过vc++和OpenCV实现，图像经过灰度变换，图像高斯滤波，二值化和反色操作，得到需要的图像。In step 2, the image processing process is realized by vc++ and OpenCV, and the image undergoes grayscale transformation, image Gaussian filtering, binarization and inverse color operations to obtain the desired image.

在步骤3中，所述的特征提取过程中采用最小外接矩形的方式提取码道轮廓，排除其他轮廓干扰，并取得码道顶点。In step 3, in the feature extraction process, the outline of the code track is extracted by means of the smallest circumscribed rectangle, other outline interference is excluded, and the vertex of the code track is obtained.

在步骤4中,所述的拟合码道基圆采用最小二乘法将上述特征提取所得到的点拟合为码道基圆。从而得到码道基圆的横坐标最大值记为

Figure 144573DEST_PATH_IMAGE001
其中
Figure 61714DEST_PATH_IMAGE002
。In step 4, the fitting code channel base circle adopts the least squares method to fit the points obtained by the above feature extraction to the code channel base circle. Thus, the maximum value of the abscissa of the base circle of the code channel is obtained as
Figure 144573DEST_PATH_IMAGE001
in
Figure 61714DEST_PATH_IMAGE002
.

在步骤5中,所述的计算圆光栅偏心角位置和所述的计算偏心值大小，通过上述所得的

Figure 841451DEST_PATH_IMAGE001
应用以下公式求得偏心角位置θ和偏心大小e。In step 5, the calculated eccentric angle position of the circular grating and the calculated eccentric value are obtained by the above
Figure 841451DEST_PATH_IMAGE001
The eccentric angle position θ and the eccentricity magnitude e are obtained by applying the following formulae.

Figure 236660DEST_PATH_IMAGE003
Figure 236660DEST_PATH_IMAGE003

Figure 51032DEST_PATH_IMAGE004
Figure 51032DEST_PATH_IMAGE004

这个技术方案有以下有益效果：This technical solution has the following beneficial effects:

1.本发明的计算方法计算编码器圆光栅偏心位置即是计算编码器主轴旋转中心和圆光栅码道基圆圆心之间相对位置。本发明充分考虑了在生产过程中由于加工误差等原因，造成的编码器在每次调整完成进行更换时，主轴位置与CCD相机位置的相对变化，从而精确计算出编码偏心角位置和偏心大小。1. Calculating the eccentric position of the encoder circular grating by the calculation method of the present invention is to calculate the relative position between the rotation center of the main shaft of the encoder and the base circle center of the circular grating code track. The invention fully considers the relative change of the position of the main shaft and the position of the CCD camera when the encoder is replaced each time the adjustment is completed due to processing errors and other reasons in the production process, so as to accurately calculate the eccentric angle position and eccentric size of the encoding.

2.本发明考虑到协调调整效率与调整精度之间的关系，选定了合理的图像拍摄次数，使得在计算精度满足要求的情况下充分提高计算效率。2. The present invention takes into account the relationship between the coordination and adjustment efficiency and the adjustment accuracy, and selects a reasonable number of image captures, so that the calculation efficiency can be fully improved under the condition that the calculation accuracy meets the requirements.

3.本发明考虑到码道加工误差，码道与光栅外缘的加工误差，选定了合理的图像拍摄次数，使得在计算精度满足要求的情况下充分提高计算效率。3. The present invention takes into account the processing error of the code channel and the processing error between the code channel and the outer edge of the grating, and selects a reasonable number of image captures, so that the calculation efficiency can be fully improved under the condition that the calculation accuracy meets the requirements.

4.编码器在工作过程中光栅码道是产生光信号的工作部分，本发明考虑到码道与光栅外缘的加工误差，码道与光栅基圆的加工误差，在选定计算偏心标准时，直接采用码道作为偏心作为计算标准，有利于提高偏心计算结果的精度。4. During the working process of the encoder, the grating code track is the working part that generates the optical signal. The present invention takes into account the machining error between the code track and the outer edge of the grating, and the machining error between the code track and the grating base circle. When selecting the calculation eccentricity standard, Directly using the code channel as the eccentricity as the calculation standard is beneficial to improve the accuracy of the eccentricity calculation result.

5.本发明在提取码道轮廓过程中，采用最小外接矩形提取码道轮廓，可以通过限制矩形长度和宽度，有效排除图像内其他轮廓对计算过程的干扰。5. In the process of extracting the contour of the code track, the present invention adopts the minimum circumscribed rectangle to extract the contour of the code track, which can effectively eliminate the interference of other contours in the image to the calculation process by limiting the length and width of the rectangle.

6.本发明在拟合码道基圆过程中，采用最小二乘法，可以有效降低码道加工误差对计算结果造成的不利影响。6. In the process of fitting the base circle of the code track, the present invention adopts the least square method, which can effectively reduce the adverse effect of the processing error of the code track on the calculation result.

附图说明：Description of drawings:

图1 计算方法流程图Figure 1 Flow chart of calculation method

图2 编码器圆光栅与主轴相对位置Figure 2 The relative position of the encoder circular grating and the spindle

图3 拟合绘制码道基圆Figure 3 Fitting and drawing the base circle of the code channel

本发明的具体实施方式：Specific embodiments of the present invention:

下文将结合附图详细描述发明的实施例。如图1所示，计算方法流程图。Hereinafter, embodiments of the invention will be described in detail with reference to the accompanying drawings. As shown in Figure 1, the flow chart of the calculation method.

步骤一：如图2所示，使用CCD工业摄像头拍摄圆光栅码道上均匀分布的八个位置图像，圆光栅由伺服电机带动旋转。在计算过程中本算法圆光栅码道上所取的点越多其精度越高，同时随着取点数量提高拍摄图像过程时间越长，检测过程中的效率越低。经过多次试验综合考虑精度和效率因素，在圆光栅码道上取八个点最为合适。Step 1: As shown in Figure 2, use a CCD industrial camera to take images of eight positions evenly distributed on the circular grating code track, and the circular grating is driven to rotate by a servo motor. In the calculation process, the more points taken on the circular grating code track of the algorithm, the higher the accuracy, and the longer the image capture process time is with the increase of the number of points taken, the lower the efficiency in the detection process. After many tests, considering the factors of accuracy and efficiency, it is most suitable to take eight points on the circular grating code track.

步骤二：将步骤一中得到的八张图像经过灰度变换，图像高斯滤波，二值化和反色操作得到所需要的二值图像。图像处理过程通过vc++和OpenCV实现。由于光栅码道在图像中为黑色，因此需要进行反色处理。Step 2: The eight images obtained in step 1 are subjected to grayscale transformation, image Gaussian filtering, binarization and inversion operations to obtain the required binary images. The image processing process is implemented by vc++ and OpenCV. Since the raster track is black in the image, inversion processing is required.

步骤三：将步骤二中得到的二值图像通过轮廓提取得到图像中的所有轮廓。由于光栅码道间距相同，宽度相同，形状近似于长条矩形。针对光栅码道特点，采用包围码道基圆的最小外接矩形，提取码道轮廓。最小外接矩形有四个顶点，取出并绘制矩形靠边缘外侧的两点，计算出这两点的中点坐标值，记录这些点的坐标值为

Figure 811178DEST_PATH_IMAGE005
其中
Figure 15894DEST_PATH_IMAGE006
。Step 3: All contours in the image are obtained by contour extraction from the binary image obtained in step 2. Since the grating track spacing is the same and the width is the same, the shape is similar to a long rectangle. According to the characteristics of the raster code track, the minimum circumscribed rectangle surrounding the base circle of the code track is used to extract the code track outline. The minimum circumscribed rectangle has four vertices, take out and draw two points outside the edge of the rectangle, calculate the coordinates of the midpoints of these two points, and record the coordinates of these points as
Figure 811178DEST_PATH_IMAGE005
in
Figure 15894DEST_PATH_IMAGE006
.

步骤四：采用最小二乘法将步骤三中得到点

Figure 214795DEST_PATH_IMAGE005
的拟合为码道基圆。最小二乘法拟合码道基圆，不但精度高，而且可排除由于码道加工误差对于计算的影响。首先是要决定拟合函数的型式，然后再决定拟合函数各项的系数。Step 4: Use the least squares method to get the points obtained in step 3
Figure 214795DEST_PATH_IMAGE005
The fitting is the base circle of the code channel. The least squares method to fit the base circle of the code track not only has high precision, but also can eliminate the influence of the machining error of the code track on the calculation. The first is to decide the form of the fitted function, and then to decide the coefficients of the terms of the fitted function.

设光栅码道基圆方程为：

Figure 883673DEST_PATH_IMAGE007
Let the base circle equation of the raster code channel be:
Figure 883673DEST_PATH_IMAGE007

样本点坐标

Figure 877037DEST_PATH_IMAGE005
其中
Figure 631367DEST_PATH_IMAGE006
到码道基圆圆心的距离为
Figure 368378DEST_PATH_IMAGE008
Sample point coordinates
Figure 877037DEST_PATH_IMAGE005
in
Figure 631367DEST_PATH_IMAGE006
The distance to the center of the base circle of the yard is
Figure 368378DEST_PATH_IMAGE008

Figure 891764DEST_PATH_IMAGE009
Figure 891764DEST_PATH_IMAGE009

点

Figure 259291DEST_PATH_IMAGE005
到码道基圆圆心的距离平方与半径平方的差为：point
Figure 259291DEST_PATH_IMAGE005
The difference between the square of the distance and the square of the radius to the center of the base circle of the yard is:

Figure 500917DEST_PATH_IMAGE010
Figure 500917DEST_PATH_IMAGE010

式中

Figure 713723DEST_PATH_IMAGE011
in the formula
Figure 713723DEST_PATH_IMAGE011

Figure 357194DEST_PATH_IMAGE012
Figure 357194DEST_PATH_IMAGE012

通过导数，求出使

Figure 630044DEST_PATH_IMAGE013
最小值时的a，b，c值Through the derivative, find the
Figure 630044DEST_PATH_IMAGE013
a , b , c values at the minimum

Figure 358965DEST_PATH_IMAGE014
Figure 358965DEST_PATH_IMAGE014

解方程组，求出

Figure 437780DEST_PATH_IMAGE015
其中solve the system of equations, find
Figure 437780DEST_PATH_IMAGE015
in

Figure 935757DEST_PATH_IMAGE016
Figure 935757DEST_PATH_IMAGE016

通过

Figure 707404DEST_PATH_IMAGE017
，求出光栅码道基圆圆心坐标,通过
Figure 586937DEST_PATH_IMAGE018
求出光栅码道基圆半径。利用OpenCV中的绘制函数将计算出的光栅码道基圆绘制到图片中，如图3所示。然后计算出光栅码道圆上点横坐标最大值点，其横坐标记为
Figure 469442DEST_PATH_IMAGE019
。pass
Figure 707404DEST_PATH_IMAGE017
, find out the coordinates of the center of the base circle of the raster code channel, through
Figure 586937DEST_PATH_IMAGE018
Find the radius of the base circle of the raster track. Use the drawing function in OpenCV to draw the calculated raster code channel base circle into the picture, as shown in Figure 3. Then calculate the maximum abscissa point of the point on the raster code track circle, and its abscissa is marked as
Figure 469442DEST_PATH_IMAGE019
.

步骤五：用步骤三中得到的横坐标值

Figure 821926DEST_PATH_IMAGE019
计算圆光栅的偏心位置和大小。单次装夹中镜头与旋转中心相对位置固定，设镜头与旋转中心相对距离为L，那么光栅码道基圆上每个点距离旋转中心的距离即为
Figure 764474DEST_PATH_IMAGE020
。设光栅码道圆心与旋转中心距离为e，偏心角度为θ。Step 5: Use the abscissa value obtained in Step 3
Figure 821926DEST_PATH_IMAGE019
Calculate the eccentric position and size of the circular grating. In a single clamping, the relative position of the lens and the rotation center is fixed. If the relative distance between the lens and the rotation center is L , then the distance between each point on the base circle of the grating code track and the rotation center is
Figure 764474DEST_PATH_IMAGE020
. Let the distance between the center of the grating track and the center of rotation be e , and the eccentric angle be θ .

如图2所示，码道中心与旋转中心相对位置，可以看出As shown in Figure 2, the relative position of the center of the code track and the center of rotation, it can be seen that

Figure 202409DEST_PATH_IMAGE021
Figure 202409DEST_PATH_IMAGE021

因此得到，So get,

Figure 623026DEST_PATH_IMAGE022
Figure 623026DEST_PATH_IMAGE022

用本发明计算方法计算出编码器圆光栅的偏心角位置和偏心大小之后，将光栅偏心方向旋转至推杆方向，使用调节装置调节圆光栅即可完成圆光栅偏心调整。After calculating the eccentric angle position and eccentric size of the encoder circular grating by the calculation method of the present invention, rotate the eccentric direction of the grating to the push rod direction, and use the adjusting device to adjust the circular grating to complete the circular grating eccentric adjustment.

Claims (4)

1. A circular grating eccentricity calculation method of an encoder eccentricity adjustment system is characterized by comprising
Step 1, shooting eight position images uniformly distributed on a circular grating code channel by using a CCD industrial camera;
step 2, preprocessing the image;
step 3, extracting and recording coordinate values of the feature points by the features;
step 4, fitting the code channel base circle to obtain the maximum value of the horizontal coordinate of the code channel base circle;
the code channel base circle equation is: r2＝(x-x′)2+(y-y′)2
Sample point coordinates (x)i，yi) Wherein the distance from i epsilon (1, 2.. N) to the center of the code channel base circle is Ri：
Figure FDA0002686045610000011
Point (x)i，yi) The difference between the distance from the circle center of the code track base circle and the square of the radius is as follows:
Figure FDA0002686045610000012
wherein x' is-a/2,
Figure FDA0002686045610000013
Figure FDA0002686045610000014
by derivation, find
Figure FDA0002686045610000015
A, b, c value at minimum
Figure FDA0002686045610000016
Figure FDA0002686045610000017
Figure FDA0002686045610000018
Solving the system of equations to obtain
Figure FDA0002686045610000019
Wherein,
Figure FDA00026860456100000110
K＝N∑xiyi-∑xi·∑yi
Figure FDA00026860456100000111
Figure FDA00026860456100000112
Figure FDA00026860456100000113
by passing x '═ -a/2, y' ═ -b/2
Figure FDA0002686045610000021
Calculating the radius of a code track base circle, and then calculating the maximum point of the abscissa of the point on the grating code track circle;
step 5, calculating the eccentric angle position and the eccentric value of the circular grating;
in step 1, a camera with eight position images uniformly distributed on the circular grating code channel takes a code channel base circle image every 45 degrees;
in the step 5, the eccentric angle position of the circular grating and the size of the calculated eccentric value are calculated, and the eccentric angle position theta and the eccentric size e are obtained through the following formulas;
Figure FDA0002686045610000022
Figure FDA0002686045610000023
2. the eccentricity calculation method according to claim 1, wherein in step 2, the preprocessing of the image in step 2 is implemented by vc + + and OpenCV, and the image is subjected to gray scale transformation, image gaussian filtering, binarization and inverse color operation to obtain a desired image.
3. The eccentricity calculation method according to claim 1, wherein in step 3, the feature extraction process adopts a minimum bounding rectangle to extract the code channel contour, to exclude interference of other contours, and to obtain the code channel vertex.
4. The eccentricity calculation method according to claim 1, wherein in step 4, the fitted code track base circle is obtained by extracting the features using least square methodFitting the obtained characteristic points into a code channel base circle, and recording the maximum value of the abscissa of the code channel base circle as XimaxWhere i ∈ (1, 2.. 8).
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