CN107121093A - A kind of gear measurement device and measuring method based on active vision - Google Patents

A kind of gear measurement device and measuring method based on active vision Download PDF

Info

Publication number
CN107121093A
CN107121093A CN201710443775.XA CN201710443775A CN107121093A CN 107121093 A CN107121093 A CN 107121093A CN 201710443775 A CN201710443775 A CN 201710443775A CN 107121093 A CN107121093 A CN 107121093A
Authority
CN
China
Prior art keywords
gear
guide rail
axis guide
profile
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710443775.XA
Other languages
Chinese (zh)
Other versions
CN107121093B (en
Inventor
黄大贵
葛森
蒋海滨
吴献钢
冯代伟
李洋洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Electronic Science and Technology of China
Original Assignee
University of Electronic Science and Technology of China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Electronic Science and Technology of China filed Critical University of Electronic Science and Technology of China
Priority to CN201710443775.XA priority Critical patent/CN107121093B/en
Publication of CN107121093A publication Critical patent/CN107121093A/en
Application granted granted Critical
Publication of CN107121093B publication Critical patent/CN107121093B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/24Measuring arrangements characterised by the use of optical means for measuring contours or curvatures
    • G01B11/2416Measuring arrangements characterised by the use of optical means for measuring contours or curvatures of gears

Abstract

The present invention relates to a kind of gear measurement device based on active vision and measuring method, belong to high precision test technical field.The measurement apparatus includes pedestal, and pedestal is provided with three-dimensional mobile platform, and three-dimensional mobile platform includes being provided with grating displacement sensor on orthogonal XYZ axis rails, each axis rail;Slided in Z axis guide rail and be provided with balladeur train, balladeur train is provided with the industrial camera and camera lens being connected, the output end connection host computer of industrial camera, background light source is fixed on pedestal;Each displacement transducer is all connected with controller, the location information for calculating three-dimensional mobile platform;Controller connects host computer, and host computer is by sending order realization to the motion control of three-dimensional platform to the controller and obtaining location information.The present invention can effectively be that the gear in 50mm 500mm realizes high-precision non-contact measurement to size range, and reaching reduces the effect of cost.

Description

A kind of gear measurement device and measuring method based on active vision
Technical field
The present invention relates to the detection technique field of gear, more particularly to a kind of gear measurement device based on active vision and Measuring method.
Background technology
Gear is most widely used driving parts in mechanical field.Because of its stable drive, noise is small, and shape and structure is more Sample, shape size parameter is flexibly adjustable, and the constant good characteristic of gearratio, the application surface of gear covers life, military field Every aspect, it is small arrive mechanical watch, toy for children, greatly to automobile, steamer, aerospace flight vehicle.
With the fast development of science and technology, each application field proposes higher requirement to gear quality, is such as driven more Plus steady, rotational noise is smaller, and determine these be gear quality quality, whether the gear parameter produced and processed out reach Design requirement, the quality of particularly flank profil quality directly influences the transmission performance of gear.In order to ensure the gear matter produced Amount to the gear of processing, it is necessary to carry out parameter measurement.
Because gear shape is complicated, measurement parameter is numerous, and it is always a difficult point to cause gear tooth parameter measurement, particularly gradually The measurement for the tooth form that bursts at the seams.Existing gear measurement equipment price is sufficiently expensive, and measuring method is hand dipping, contact survey mostly Amount, requirement of this metering system to survey crew is big compared with high and labor intensity, and some even need the training of specialty, measurement effect Rate is very low, and measurement result has larger randomness, and measurement result largely depends on the operation level and work of survey crew Make state, and contact type measurement easily causes the damage of gear surface quality.
With continuing to develop for information technology, machine vision technique progresses into fields of measurement.Machine vision metrology technology The image of measured object is gathered using industrial camera, then image is sent to host computer, host computer recycles Survey Software analysis to survey Amount.Machine vision has the good characteristic that many traditional measurement methods can not compare.Gear measuring system one based on machine vision As by lighting device, industrial camera, camera lens, host computer and corresponding Survey Software composition.Its principle is sent out by illuminator The light gone out highlights the profile of gear, and camera lens is by light-ray condensing in the battle array of CMOS faces, and the optical signal collected is converted into by CMOS again Charge signal, and calculating meter is transferred to, corresponding Survey Software measures the parameters size of analysis gear.
Existing industrial camera pixel is generally also relatively low, and the high camera cost of pixel is too high;Camera lens all exist certain Deformation, although the image deformation of telecentric lens is very low, but the visual field is too small, and price is sufficiently expensive.Two above problem is serious It has impact on precision of the machine vision in gear measurement.
A kind of method of utilization machine vision is disclosed in prior art 1 to measure gear:System is by camera, mirror Head, background light source, gear, host computer, camera mounting and fixing bracket composition.Global image shooting is carried out to gear, form is utilized Method carries out image procossing, defects detection and parameter measurement to gear, there is following defect:
(1) measured due to simply have taken a width global image to gear, resolution ratio is relatively low, especially for size Slightly larger gear, and the size of each tooth of gear is too small for whole gear.This can have a strong impact on the precision of measurement.
(2) there is distortion in camera lens, causes gear imaging distortion, even across correction, still can not be completely eliminated, right Measurement accuracy produces considerable influence.
(3) precision of the morphological image method applied in method in itself is very low.
A kind of gear graph picture for shooting the overall situation using telecentric lens is disclosed in prior art 2 and carries out gear tooth parameter measurement. The distortion very little of telecentric lens, can largely reduce the influence that lens imaging distorts to measurement accuracy.Telecentric lens are regarded Wild very little, and price is sufficiently expensive.The gear that diameter is less than 100mm can only typically be measured.The such as technical method The middle telecentric lens visual field used is 56mm*48mm, and the gear more than the size just can not be measured.
The vision measurement system uses telecentric lens in prior art 3, and the distortion very little of telecentric lens can be largely Reduce the influence that lens imaging distorts to measurement accuracy.But it is due to the visual field very little of telecentric lens, causes single image to gather The global image of gear can not be collected, is fed back and schemed to realize to be similar to gear as scanner using the position of two-dimentional pedestal As collection, the scanning imagery of a line a line is realized to image.The gear global image that finally reprocessing analysis is obtained.
(1) technical method is applied to the less gear of size.Obtained global image data volume is scanned too big, to so Big data volume carries out image procossing and analysis measurement, and amount of calculation is too big, and efficiency is low.
(2) gear is progressively scanned to obtain the global image of gear, efficiency is too low.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of gear measurement device based on active vision and measurement side Method, can effectively be that the gear in 50mm-500mm realizes high-precision non-contact measurement to size range, improve gear vision The Measurement Resolution of measuring system, reduces influence of the lens distortion to gear vision measurement, reaches raising measurement accuracy, reduces into This effect.
The technical scheme that the present invention solves above-mentioned technical problem is as follows:
A kind of gear measurement device based on active vision, including pedestal and three-dimensional mobile platform are described three-dimensional mobile flat Platform includes orthogonal X-axis guide rail, Y-axis guide rail and Z axis guide rail, and the Y-axis guide rail is fixed with the base level, the Y Axis rail is provided with the first support frame slided along the Y-axis guide rail, and the X-axis guide rail is arranged on first support frame, The Z axis guide rail is arranged in the X-axis guide rail and slided along the X-axis guide rail, and the X-axis guide rail, Y-axis guide rail and Z axis are led It is provided with rail on the balladeur train for being provided with and being slided along the Z axis guide rail in displacement transducer, the Z axis guide rail, the balladeur train Provided with vision system;
The vision system includes the industrial camera and camera lens that are connected, and the industrial camera connects host computer, it is described on Position machine controls lens focusing and industrial camera to gather image in real time, and the image of collection is handled, the industrial camera Optical axis and the pedestal it is vertical;
The three-dimensional mobile platform drives servomotor the vision system is led along X-axis guide rail or Y-axis by controller Rail or Z axis guide rail movement;Each institute displacement sensors are all connected with the controller, the positioning for calculating three-dimensional mobile platform Information;The controller connects host computer, and the host computer is realized to described three-dimensional flat by sending order to the controller The motion control of platform and acquisition location information.
The beneficial effects of the invention are as follows:Camera is fixed in three-dimensional mobile platform, is moved with the motion of three axles, can be real The collection of existing gear difference topography, while host computer can locally be put to gear in real time by adjusting the focal length of camera lens Big imaging, improves the resolution ratio of measuring system.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, high-brightness LED lamp background light source is provided with the pedestal.
Beneficial effect using above-mentioned further scheme is:Highlight the profile of tested gear and reduce the dry of external environment Disturb.
Further, it is provided between one end of the pedestal away from the Y-axis guide rail and the X-axis guide rail with described first Second support frame of support frame movement, second support frame is fixedly connected with the X-axis guide rail, second support frame and institute Pedestal is stated to be slidably connected.
Beneficial effect using above-mentioned further scheme is:Support the X-axis guide rail and Z axis guide rail of three-dimensional mobile platform.
Further, the industrial camera uses industrial CCD camera, and the resolution ratio of the industrial CCD camera is 2448 ×2050。
Beneficial effect using above-mentioned further scheme is:Gather image apparent.
Further, the camera lens is focused by software approach.
Beneficial effect using above-mentioned further scheme is:By focusing the bat that can be zoomed in or out to gear According to gear shooting global and local image.
In addition, present invention also offers a kind of gear measuring method based on active vision, the measuring method is based on above-mentioned Gear measurement device, industrial camera is fixed in three-dimensional mobile platform, realizes the collection of the different topographies of gear, host computer The focal length for the image of collection being handled and being adjusted camera lens is imaged to gear partial enlargement in real time, the gear measurement Method includes global rough measure and local accurate measurement, specifically includes following steps:
(1) demarcate the corresponding lens distortion parameter of each focal length of industrial camera and store;And system mark is carried out to each focal length It is fixed, obtain pixel equivalent table;
(2) global image of gear is gathered using industrial camera;Read the corresponding lens distortion parameter of current focus, and root Anamorphose correction is carried out to the global image according to the lens distortion parameter;
(3) host computer extracts the gear profile of the global image, and gear profile is surrounded with a smallest circle, and the circle is tooth top Circle, obtains tip diameter daAnd gear centre;The point on gear profile is calculated to the beeline of gear centre, the most short distance From twice be root diameter df
(4) host computer is according to the tip diameter and the half d of root diameter summ=(da+df)/2, make one and split Each tooth of the bundle of circles is divided into tip portion and root portions, and the tooth top profile number being partitioned into is number of teeth z, modulus m=(da-df)/4.5, point Spend circular diameter d=m × z;
(5) midpoint of the segmentation circle and two intersection point lines of each tooth is defined as the center of each tooth of gear by host computer;
(6) industrial camera is moved to gear centre determined by step (3) by controller by three-dimensional mobile platform, collection Bore image, extracts internal bore profile, and the internal bore profile is carried out using least square method to justify fitting, obtained in accurate Bore dia and gear centre;
(7) according to determined by step (5) each tooth of gear center, industrial camera collection gear partial enlargement image;
(8) host computer extracts gear profile according to the partial enlargement image of collection, according to pixel equivalent table by every part The image coordinate of profile is converted into pedestal coordinate in enlarged drawing;The point on gear profile is calculated to the distance of gear centre, root The profile of each tooth in every partial enlargement image is partitioned into according to distance, removes the tooth of repetition, the profile of each tooth is obtained;
(9) host computer accurately measures outside circle according to the profile and gear centre of each tooth in the partial enlargement image of extraction Diameter, root diameter, circular pitch deviation and total profile deviation.
The above method has the beneficial effect that:
(1) compared to global shooting is simply carried out to gear, the technology of the present invention is locally amplified shooting to gear and can carried The resolution ratio of high vision measurement;
(2) because the camera lens of camera has image deformation, even across camera calibration and image flame detection, the deformation of image is still It can not so be completely eliminated, have a strong impact on the precision of measurement, the part of gear is amplified and taken pictures, recycle three-dimensional mobile platform Location information the gear profile in topography is converted into platform coordinate, can so reduce camera lens distortion to measurement Influence;
(3) global image of gear is first shot, the collection of gear topography is carried out further according to the center of each tooth calculated, Rather than the shooting gear topography of blindness;The profile needed in every width topography is simply extracted, according to the positioning of platform These local configuration aggregation of data are got up to analyze by information, rather than all topographies are spliced by image split-joint method Image analysis processing is carried out again after into the complete image of a width, and this will be significantly reduced amount of calculation.
(4) after gear is put on measuring table, measuring system is automatically performed the accurate measurement of all parameters of gear, is not required to Want manual intervention.
Therefore, this method can greatly improve the measurement accuracy of gear parameter.
Brief description of the drawings
Fig. 1 is system construction drawing of the invention;
Fig. 2 is the gear graph picture after the correction of the present invention;
Fig. 3 is outside circle of the invention;
Fig. 4 is root circle of the invention;
Fig. 5 justifies for the segmentation of the present invention;
Fig. 6 is the tip portion of the segmentation of the present invention;
Fig. 7 is the Ge Chi centers of the determination of the present invention;
Fig. 8 is accurately positioned gear centre endoporus image for the present invention's;
Fig. 9 justifies for the least square fitting for being accurately positioned gear centre endoporus image of the present invention;
The gear topography that Figure 10 gathers for the present invention;
The gear tooth profile that Figure 11 extracts for the present invention.
In accompanying drawing, the part that each label is represented is as follows:
1-Y axis rails;The support frames of 2- first;3-X axis rails;4-Z axis rails;5- pedestals;6-LED lamp background light sources;7- Second support frame 7;8- balladeur trains;9- vision systems.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and It is non-to be used to limit the scope of the present invention.
As shown in figure 1, in order to solve the problem of prior art prototype gear precision is not high, cost is high, the invention provides A kind of gear measurement device based on active vision, including pedestal 5, three-dimensional mobile platform, three-dimensional mobile platform include mutually hanging down Straight X-axis guide rail 3, Y-axis guide rail 1 and Z axis guide rail 4, Y-axis guide rail 1 is fixed with the level of pedestal 5, and Y-axis guide rail 1 is provided with and led along Y-axis The first support frame 2 that rail 1 is slided, X-axis guide rail 3 is arranged on the first support frame 2, and Z axis guide rail 4 is arranged in X-axis guide rail 3 and edge X-axis guide rail 3 is slided, and is provided with displacement transducer, Z axis guide rail 4 and is provided with X-axis guide rail 3, Y-axis guide rail 1 and Z axis guide rail 4 The balladeur train 8 slided along Z axis guide rail 4, balladeur train 8 is provided with vision system 9;Vision system 9 includes the industrial camera and mirror being connected Head, industrial camera connection host computer, host computer controls focusing and the industrial camera collection image of camera lens in real time, and to collection Image is handled, and industrial camera optical axis and the pedestal 5 are vertical, and three-dimensional mobile platform drives servomotor to make by controller The vision system 9 is moved along X-axis guide rail 3 or Y-axis guide rail 1 or Z axis guide rail 4;Each displacement transducer is all connected with controller, uses In the location information for calculating three-dimensional mobile platform;Controller connects host computer, and host computer is ordered by being sent to the controller Realize the motion control to the three-dimensional platform and obtain location information.
In order to highlight the profile of tested gear and reduce external environmental interference, high-brightness LED lamp background is provided with pedestal 5 Light source 6, is placed on background light source during tested gear measurement.
It is provided between one end of the pedestal 5 away from the Y-axis guide rail 1 and the X-axis guide rail 3 with the first support frame 2 The second mobile support frame 7, the second support frame 7 is fixedly connected with X-axis guide rail 3, and the second support frame 7 is slidably connected with pedestal 5, this In the end that can be contacted in the second support frame 7 and pedestal 5 that is slidably connected using ball slip, to support three-dimensional mobile platform X-axis guide rail 3 and Z axis guide rail 4.
Industrial camera uses industrial CCD camera, and the resolution ratio of the industrial CCD camera is 2448 × 2050.Using Can software design patterns focal length camera lens, realize during gear measurement to gear and gear local amplification and diminution.
In one embodiment of the present of invention, industrial camera is fixed in three-dimensional mobile platform, as three-dimensional is mobile flat The movement of platform and move.Host computer is the control centre of whole system, is communicated by bus and controller, and control in real time is three-dimensional to move The movement of moving platform;Be connected by IMAQ bus with industrial camera controls camera to take pictures in real time.It can so realize to tooth Take turns different local take pictures in real time.
Gear measurement software on host computer automatically controls movement and the IMAQ of three-dimensional mobile platform, according to collection Gear global and local image, the diameter of bore of automatic measurement gear, tip diameter, root diameter, the number of teeth, modulus, point Spend circular diameter, circular pitch deviation and total profile deviation.
In addition, in one embodiment of the present of invention, additionally providing one kind based on said gear measurement apparatus and being regarded based on active The gear measuring method of feel, gear measuring method includes global rough measure and local accurate measurement, specifically includes following steps:
(1) camera installs vertical correction:Need to ensure that camera and gear upper surface are vertical in gear measurement, so in phase Machine installs the optical axis that ensure camera when fixing and the X/Y plane of three-dimensional mobile platform is vertical.Method is corrected with a rectification plate Make camera right angle setting.There is a square on rectification plate, extract four angle points of square, and be accurate to sub-pix.Calculate just The image length of square four edges, being tried one's best when camera is installed makes the image length of square sides equal, can so protect as far as possible Demonstrate,prove camera optical axis and X/Y plane is vertical;
(2) camera lens distortion parameter is demarcated:Due to can be by Jiao of software adjustment camera in the measurement process of gear Away from, and the change of camera focus is, it is necessary to re-scale the distortion parameter of camera.So what should may be used for camera is each The corresponding camera parameter of focal length is demarcated, and is stored;
(3) system calibrating:When image coordinate is converted into 5 coordinate of pedestal, it is necessary to use pixel equivalent, worked as using pixel Image coordinate can be converted into the coordinate of pedestal 5 by amount, and the corresponding pixel equivalent of each focal length of camera is different, so needing to possible The each focal length used carries out system calibrating, when specifically used, and system can be obtained according to current focal length, inquiry pixel equivalent table To the pixel equivalent that should currently use;
(4) system automatically adjusts the focal length and Z axis height of camera according to the size of gear, makes gear complete in the camera Whole blur-free imaging, and full of whole visual field.Regulation camera focus can be amplified to gear dwindles into picture, regulation Z axis height Function as regulation camera object distance, gear blur-free imaging in the camera can be made;
(5) global image of gear is gathered, according to current focal length, the distortion parameter for taking out and having demarcated of tabling look-up enters to it Row anamorphose is corrected;
(6) profile of gear is extracted, the profile of gear is surrounded with a big circle, the circle determined when this circle is minimum The as outside circle of rough calculation, the center of circle is gear centre;The point on profile is calculated to the distance of gear centre, is calculated Twice of beeline is root diameter;
(7) according to tip diameter and the half d of root diameter summ=(da+df)/2, make one and split the bundle of circles each tooth point For tip portion and root portions, the tooth top profile number being partitioned into is number of teeth z, modulus m=(da-dfThe reference diameter d of)/4.5 =m × z;
(8) midpoint of two intersection point lines of circle and each tooth will be split, be defined as the center of each tooth of gear;
(9) camera is moved to gear centre determined above, centering amplification is carried out to bore and is taken pictures, endoporus is extracted Profile, internal bore profile is carried out with least square method to justify fitting, accurate diameter of bore and gear centre is obtained;
(10) part of gear is amplified according to the center of each tooth of gear determined above and taken pictures, according to precision need Will, the focal length of camera is set, and because focal length is different, the number of teeth in topography also can be different.Each tooth can be entered when being necessary Row centering amplification is taken pictures;
(11) profile of the topography's middle gear shot is extracted, is moved according to camera when shooting every topography in three-dimensional Coordinate in moving platform, the coordinate of pedestal 5 is converted into by the image coordinate of profile, calculate point on profile to gear centre away from From the profile for each tooth being partitioned into according to distance in every topography removes the tooth of the repetition of presence, finally gives z tooth Profile, z is the number of teeth;
(12) according to the profile for each tooth being partitioned into, tip diameter, root diameter, the single tooth of accurate prototype gear Away from deviation, tooth pitch cumulative departure, total cumulative pitch error and total profile deviation.
The beneficial effect that technical solution of the present invention is brought:
(1) compared to global shooting is simply carried out to gear, the technology of the present invention is locally amplified shooting to gear and can carried The resolution ratio of high vision measurement;
(2) because the camera lens of camera has image deformation, even across camera calibration and image flame detection, the deformation of image is still It can not so be completely eliminated, have a strong impact on the precision of measurement, the part of gear is amplified and taken pictures, recycle three-dimensional mobile platform Location information the gear profile in topography is converted into the coordinate of pedestal 5 can reduce camera lens distortion to the shadow of measurement Ring;
(3) global image of gear is first shot, the collection of gear topography is carried out further according to the center of each tooth calculated, Rather than the shooting gear topography of blindness;The profile needed in every width topography is simply extracted, according to the positioning of pedestal 5 These local configuration aggregation of data are got up to analyze by information, rather than all topographies are spliced by image split-joint method Image analysis processing is carried out again after into the complete image of a width, and this will be significantly reduced amount of calculation.
(4) after gear is put on measurement pedestal 5, measuring system is automatically performed the accurate measurement of all parameters of gear, no Need manual intervention.
In summary, the inventive technique can greatly improve the measurement accuracy of gear parameter.
Embodiment 1
A kind of gear measuring method based on active vision, gear of the measuring method based on the specific embodiment of the invention Measurement apparatus, industrial camera is fixed in three-dimensional mobile platform, realizes the collection of the different topographies of gear, host computer is to adopting The focal length that the image of collection was handled and adjusted camera lens is imaged to gear partial enlargement in real time, the gear measuring method Including global rough measure and local accurate measurement, following steps are specifically included:
(1) demarcate the corresponding lens distortion parameter of each focal length of industrial camera and store;And system is carried out to each focal length Demarcation, obtains pixel equivalent table;
According to the suitable focal length of the size selection of tested gear make phase function shoot gear global image, adjustment camera and The distance (object distance) of gear makes tested gear blur-free imaging;
(2) global image of tested gear is gathered using industrial camera.The corresponding lens distortion parameter of current focus is chosen, Anamorphose correction is carried out to it, the gear graph picture after straightening is illustrated in figure 2;
(3) rough measure tip diameter daWith root diameter df.Extract the gear profile in the image of collection, such as Fig. 3 In black silhouette be the gear profile extracted.Make the profile that a circle surrounds gear, when this circle is minimum, the circle is tooth top Circle, obtains tip diameter daAnd gear centre;The point on profile is calculated to the beeline of gear centre, the two of beeline It is root diameter d againf;The root circle that circle in the outside circle that circle in Fig. 3 obtains for calculating, Fig. 4 obtains for calculating;
(4) a segmentation circle is made, diameter is designated as dm, segmentation diameter of a circle is that tip diameter and root circle determined above are straight The half of footpath sum, reference diameter dm=(da+dfCircle in)/2, such as Fig. 5 and that profile intersects is justified for segmentation.Split the bundle of circles each Tooth is divided into two parts, is tip portion and root portions respectively, the tooth top profile number being partitioned into is number of teeth z, is illustrated in figure 6 The tooth top profile being partitioned into, modulus m=(da-df)/4.5, reference diameter d=m × z;
(5) center of each tooth of tested gear is determined.Segmentation circle and each tooth have two intersection points, make the midpoint of two intersection point lines For the center of each tooth, stain in such as Fig. 7 is the Ge Chi centers that determine;
(6) industrial camera is moved to gear centre determined by step (3), bore amplification centering taken pictures, such as Fig. 8 show the bore image of collection.The profile of endoporus is extracted, internal bore profile is carried out using least square method to justify plan Close, obtain accurate diameter of bore and gear centre, be illustrated in figure 9 circle and the center of circle of fitting;
(7) center of each tooth of gear is detected according to determined by step (5), gear is locally amplified and taken pictures, is gathered Tested gear partial enlargement image, is as shown in Figure 10 the partial enlargement image of collection.
(8) black silhouette extracted in the gear profile in the topography of collection, Figure 11 is the gear profile extracted, The image coordinate of profile in every topography is converted into by stage coordinates according to pixel equivalent table;Calculate tested gear profile On point to the distance of gear centre, the profile for each tooth being partitioned into according to distance in every topography removes the tooth of repetition, Obtain the profile of each tooth;The profile between two black round dots in every width topography is the profile for each tooth being partitioned into.
(9) profile and gear centre of the tooth in the topography of extraction, accurately measures tip diameter, root circle Diameter, circular pitch deviation and total profile deviation.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.

Claims (6)

1. a kind of gear measurement device based on active vision, it is characterised in that including pedestal and three-dimensional mobile platform, described three Tieing up mobile platform includes orthogonal X-axis guide rail, Y-axis guide rail and Z axis guide rail, and the Y-axis guide rail is consolidated with the base level Fixed, the Y-axis guide rail is provided with the first support frame slided along the Y-axis guide rail, and the X-axis guide rail is arranged on described first On support, the Z axis guide rail is arranged in the X-axis guide rail and slided along the X-axis guide rail, the X-axis guide rail, Y-axis guide rail Be provided with Z axis guide rail be provided with displacement transducer, the Z axis guide rail along the Z axis guide rail slide balladeur train, it is described Balladeur train is provided with vision system;
The vision system includes the industrial camera and camera lens being connected, and the industrial camera connects host computer, the host computer Control lens focusing and industrial camera collection image, and handle the image of collection, the light of the industrial camera in real time Axle and the pedestal are vertical;
The three-dimensional mobile platform drives servomotor to make the vision system along X-axis guide rail or Y-axis guide rail or Z by controller Axis rail is moved;Each institute displacement sensors are all connected with the controller, the location information for calculating three-dimensional mobile platform; The controller connects host computer, and the host computer to the controller by sending fortune of the order realization to the three-dimensional platform Dynamic control and acquisition location information.
2. the gear measurement device according to claim 1 based on active vision, it is characterised in that set on the pedestal It is equipped with high-brightness LED lamp background light source.
3. the gear measurement device according to claim 1 based on active vision, it is characterised in that away from the Y-axis The second support frame moved with first support frame is provided between one end of the pedestal of guide rail and the X-axis guide rail, it is described Second support frame is fixedly connected with the X-axis guide rail, and second support frame is slidably connected with the pedestal.
4. the gear measurement device according to claim 1 based on active vision, it is characterised in that the industrial camera is adopted It is industrial CCD camera, the resolution ratio of the industrial CCD camera is 2448 × 2050.
5. the gear measurement device according to claim 1 based on active vision, it is characterised in that the camera lens passes through soft Part method is focused.
6. a kind of gear measuring method based on active vision, the measuring method is based on any one of claim 1 to 5 Gear measurement device, it is characterised in that industrial camera is fixed in three-dimensional mobile platform, realizes the different topographies of gear Collection, the focal length that host computer was handled and adjusted camera lens to the image of collection is imaged to gear partial enlargement in real time, The gear measuring method includes global rough measure and local accurate measurement, specifically includes following steps:
(1) demarcate the corresponding lens distortion parameter of each focal length of industrial camera and store;And system calibrating is carried out to each focal length, obtain To pixel equivalent table;
(2) global image of gear is gathered using industrial camera;The corresponding lens distortion parameter of current focus is read, and according to institute State lens distortion parameter and anamorphose correction is carried out to the global image;
(3) host computer extracts the gear profile of the global image, and gear profile is surrounded with a smallest circle, and the circle is outside circle, Obtain tip diameter daAnd gear centre;The point on gear profile is calculated to the beeline of gear centre, the beeline Twice be root diameter df
(4) host computer is according to the tip diameter and the half d of root diameter summ=(da+df)/2, make one and split the bundle of circles Each tooth is divided into tip portion and root portions, and the tooth top profile number being partitioned into is number of teeth z, modulus m=(da-df)/4.5, reference circle Diameter d=m × z;
(5) midpoint of the segmentation circle and two intersection point lines of each tooth is defined as the center of each tooth of gear by host computer;
(6) industrial camera is moved to gear centre determined by step (3) by controller by three-dimensional mobile platform, gathers gear Endoporus image, extracts internal bore profile, and the internal bore profile is carried out using least square method to justify fitting, accurate endoporus is obtained straight Footpath and gear centre;
(7) according to determined by step (5) each tooth of gear center, industrial camera collection gear partial enlargement image;
(8) host computer extracts gear profile according to the partial enlargement image of collection, according to pixel equivalent table by every partial enlargement The image coordinate of profile is converted into pedestal coordinate in image;Calculate gear profile on point to gear centre distance, according to away from From the profile for each tooth being partitioned into every partial enlargement image, remove the tooth of repetition, obtain the profile of each tooth;
(9) host computer is according to the profile and gear centre of each tooth in the partial enlargement image of extraction, accurately measure tip diameter, Root diameter, circular pitch deviation and total profile deviation.
CN201710443775.XA 2017-06-13 2017-06-13 Gear measuring device and method based on active vision Expired - Fee Related CN107121093B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710443775.XA CN107121093B (en) 2017-06-13 2017-06-13 Gear measuring device and method based on active vision

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710443775.XA CN107121093B (en) 2017-06-13 2017-06-13 Gear measuring device and method based on active vision

Publications (2)

Publication Number Publication Date
CN107121093A true CN107121093A (en) 2017-09-01
CN107121093B CN107121093B (en) 2019-12-17

Family

ID=59730440

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710443775.XA Expired - Fee Related CN107121093B (en) 2017-06-13 2017-06-13 Gear measuring device and method based on active vision

Country Status (1)

Country Link
CN (1) CN107121093B (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107583972A (en) * 2017-09-21 2018-01-16 庄亮 Shift fork deforms Intelligent Measurement and apparatus for correcting
CN108393897A (en) * 2018-02-26 2018-08-14 深圳达芬奇创新科技有限公司 A kind of danger detects trolley
CN108489394A (en) * 2018-04-17 2018-09-04 沈阳建筑大学 A kind of large-scale sheet metal works almost T-stable automatic detection device and method
CN108593679A (en) * 2018-05-07 2018-09-28 深圳华云科技实业有限公司 A kind of visual detection equipment
CN108955644A (en) * 2018-07-12 2018-12-07 董中浩 A kind of programmable machine sighting device
CN109238151A (en) * 2018-06-29 2019-01-18 苏州富强科技有限公司 A kind of detection device localization method
CN109297412A (en) * 2018-11-19 2019-02-01 合肥工业大学 A kind of image collecting device and spline detection method of the spline end face of splined shaft
CN109447971A (en) * 2018-10-30 2019-03-08 西安交通大学 A kind of cycloid gear molded line error is accurately extracted and crucial accuracy of form and position rapid analysis method
CN110068280A (en) * 2019-04-30 2019-07-30 武汉众为欧拓自动化技术有限公司 A kind of device and method applied to rapid survey gear ring size
CN110185891A (en) * 2019-05-30 2019-08-30 湖南城市学院 A kind of human body contour outline of view-based access control model describes device
CN110779455A (en) * 2019-10-29 2020-02-11 燕山大学 Device and process for measuring expansion amount of heated gear by laser reflection
CN110954023A (en) * 2019-12-23 2020-04-03 芜湖哈特机器人产业技术研究院有限公司 Multifunctional visual experiment table and working method thereof

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070291260A1 (en) * 2004-09-13 2007-12-20 Masaharu Komori Noncontact Method for Measuring Pitch of Gear Teeth and Screw
CN201653373U (en) * 2010-03-29 2010-11-24 重庆建设工业(集团)有限责任公司 Triaxial non-contact image measuring system
CN105046650A (en) * 2015-07-12 2015-11-11 中国计量学院 Machine vision-based image mosaic method for small module gear detection process
CN105205796A (en) * 2014-06-30 2015-12-30 华为技术有限公司 Wide-area image acquisition method and apparatus
CN106524934A (en) * 2016-11-11 2017-03-22 北京工业大学 High-precision small modulus gear vision measurement method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070291260A1 (en) * 2004-09-13 2007-12-20 Masaharu Komori Noncontact Method for Measuring Pitch of Gear Teeth and Screw
CN201653373U (en) * 2010-03-29 2010-11-24 重庆建设工业(集团)有限责任公司 Triaxial non-contact image measuring system
CN105205796A (en) * 2014-06-30 2015-12-30 华为技术有限公司 Wide-area image acquisition method and apparatus
CN105046650A (en) * 2015-07-12 2015-11-11 中国计量学院 Machine vision-based image mosaic method for small module gear detection process
CN106524934A (en) * 2016-11-11 2017-03-22 北京工业大学 High-precision small modulus gear vision measurement method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
杨丹: "《基于机器视觉的齿轮测量技术研究》", 《中国优秀硕士学位论文全文数据库 信息科技辑》 *

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107583972A (en) * 2017-09-21 2018-01-16 庄亮 Shift fork deforms Intelligent Measurement and apparatus for correcting
CN108393897A (en) * 2018-02-26 2018-08-14 深圳达芬奇创新科技有限公司 A kind of danger detects trolley
CN108489394A (en) * 2018-04-17 2018-09-04 沈阳建筑大学 A kind of large-scale sheet metal works almost T-stable automatic detection device and method
CN108593679A (en) * 2018-05-07 2018-09-28 深圳华云科技实业有限公司 A kind of visual detection equipment
CN109238151B (en) * 2018-06-29 2020-06-05 苏州富强科技有限公司 Detection device positioning method
CN109238151A (en) * 2018-06-29 2019-01-18 苏州富强科技有限公司 A kind of detection device localization method
CN108955644A (en) * 2018-07-12 2018-12-07 董中浩 A kind of programmable machine sighting device
CN108955644B (en) * 2018-07-12 2020-11-06 端黎明 Programmable machine vision device
CN109447971A (en) * 2018-10-30 2019-03-08 西安交通大学 A kind of cycloid gear molded line error is accurately extracted and crucial accuracy of form and position rapid analysis method
CN109447971B (en) * 2018-10-30 2021-01-19 西安交通大学 Method for accurately extracting profile error of cycloidal gear and rapidly analyzing key form and position accuracy
CN109297412A (en) * 2018-11-19 2019-02-01 合肥工业大学 A kind of image collecting device and spline detection method of the spline end face of splined shaft
CN110068280A (en) * 2019-04-30 2019-07-30 武汉众为欧拓自动化技术有限公司 A kind of device and method applied to rapid survey gear ring size
CN110185891A (en) * 2019-05-30 2019-08-30 湖南城市学院 A kind of human body contour outline of view-based access control model describes device
CN110779455A (en) * 2019-10-29 2020-02-11 燕山大学 Device and process for measuring expansion amount of heated gear by laser reflection
CN110779455B (en) * 2019-10-29 2021-03-26 燕山大学 Device and process for measuring expansion amount of heated gear by laser reflection
CN110954023A (en) * 2019-12-23 2020-04-03 芜湖哈特机器人产业技术研究院有限公司 Multifunctional visual experiment table and working method thereof

Also Published As

Publication number Publication date
CN107121093B (en) 2019-12-17

Similar Documents

Publication Publication Date Title
CN107121093A (en) A kind of gear measurement device and measuring method based on active vision
CN106524934B (en) A kind of high-precision fine module gear vision measuring method
CN104567679B (en) A kind of system of turbo blade vision-based detection
CN101458072A (en) Three-dimensional contour outline measuring set based on multi sensors and measuring method thereof
CN106017350A (en) Machine-vision-based rapid detection device and detection method for medium and small module gears
CN104913737A (en) Component quality checking device based on line laser three-dimensional measurement and detection method of device
CN108180851B (en) Five-axis image measuring device for measuring shape and position parameters of air film hole
JP2007533963A (en) Non-contact optical measuring method and measuring apparatus for 3D position of object
CN104567690B (en) A kind of laser beam field calibration method and device
CN102607457A (en) Measuring device and measuring method for large three-dimensional morphology based on inertial navigation technology
CN103615980B (en) Method and system for measuring parameters of round holes in plate
JP2007533963A5 (en)
CN108592816B (en) Three-dimensional measuring device and method for large-size surface
CN108844459B (en) Calibration method and device of blade digital sample plate detection system
CN109596073A (en) A kind of origin position scaling method of the revolving platform central axis of view-based access control model measurement
CN109612390A (en) Large-size workpiece automatic measurement system based on machine vision
CN103712572A (en) Structural light source-and-camera-combined object contour three-dimensional coordinate measuring device
JP5383853B2 (en) Tool shape measuring apparatus and tool shape measuring method
CN110954024A (en) Connecting piece vision measuring device and measuring method thereof
WO2020147397A1 (en) Machine vision system for use in curved surface inspection and inspection method
CN102538707B (en) Three dimensional localization device and method for workpiece
CN103192399A (en) Micro-vision hand-eye calibration method based on target motion
CN106289086A (en) A kind of for optical indicia dot spacing from the double camera measuring method of Accurate Calibration
CN105841636A (en) Optical axis and object surface verticality detection method based on linear motion component error compensation
CN107976146B (en) Self-calibration method and measurement method of linear array CCD camera

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20191217

Termination date: 20200613