CN108375352A - The method of adjustment of two plan-positions based on the depth of parallelism, apparatus and system - Google Patents
The method of adjustment of two plan-positions based on the depth of parallelism, apparatus and system Download PDFInfo
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- CN108375352A CN108375352A CN201810098023.9A CN201810098023A CN108375352A CN 108375352 A CN108375352 A CN 108375352A CN 201810098023 A CN201810098023 A CN 201810098023A CN 108375352 A CN108375352 A CN 108375352A
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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Abstract
The method of adjustment of the invention discloses a kind of two plan-positions based on the depth of parallelism, apparatus and system, between each laser displacement sensor and the first plane, this method includes the second plane：Determine first unit normal vector and each four laser displacement sensor coordinate value in default three-dimensional system of coordinate of first plane in default three-dimensional system of coordinate；Obtain it is that each laser displacement sensor measurement obtains, at a distance from the second plane；According to the coordinate value of each laser displacement sensor and each laser displacement sensor at a distance from the second plane, determine that laser that each laser displacement sensor sends out reaches the coordinate value of each point in the second plane；Using the coordinate value of each point, second unit normal vector of second plane in default three-dimensional system of coordinate is determined；According to the first unit normal vector and the second unit normal vector, the depth of parallelism parameter of the first plane and the second plane is determined；Using depth of parallelism parameter, the position of the first plane and/or the second plane is adjusted.
Description
Technical field
The present invention relates to measurement of paralleism technical fields, more particularly, to a kind of two plan-positions based on the depth of parallelism
Method of adjustment, apparatus and system.
Background technology
In mechanical processing process, often need to ensure that workbench or the depth of parallelism of workpiece working face and assembling base plane exist
In certain threshold range.Alternatively, during Automatic manual transmission, often need the depth of parallelism for ensureing two components in certain threshold range
It is interior.
In the prior art, usually the parallel degree of two interplanars is obtained using lever indicator measurement.For example, by lever hundred
The pedestal of table is divided to be fixed on assembling base plane, strain gauge head and the workbench or workpiece working face of lever indicator are overlayed
Attached, mobile work platform or workpiece read the reading of lever indicator, by reading as workbench or workpiece working face and assembly base
The plane parallel degree index in quasi- face.But the reading that this method measurement obtains cannot directly reflect workbench or workpiece work
Depth of parallelism numerical value between face and assembling base plane can only qualitatively determine out the not parallel degree of two interplanars, and then cannot
Accurately the position of two planes is adjusted.
Accordingly, it is desirable to provide a kind of new technical solution, for the above-mentioned prior art in technical problem be improved.
Invention content
The new technology side of the method for adjustment of it is an object of the present invention to provide a kind of two plan-positions based on the depth of parallelism
Case.
According to the first aspect of the invention, a kind of method of adjustment of two plan-positions based on the depth of parallelism is provided, at least
Four laser displacement sensors are located at the top of the first plane, and the second plane is located at each laser displacement sensor and described
Between one plane, the method includes：
Determine that first unit normal vector and each four laser displacement of first plane in default three-dimensional system of coordinate pass
Coordinate value of the sensor in default three-dimensional system of coordinate；
Obtain it is that each laser displacement sensor measurement obtains, at a distance from second plane；
According to the coordinate value of each laser displacement sensor and each laser displacement sensor and second plane
Distance, determine that laser that each laser displacement sensor is sent out reaches the coordinate value of each point in second plane；
Using the coordinate value of each point, second unit of second plane in the default three-dimensional system of coordinate is determined
Normal vector；
According to first unit normal vector and second unit normal vector, first plane and described second are determined
The depth of parallelism parameter of plane；
Using the depth of parallelism parameter, the position of first plane and/or second plane is adjusted.
Optionally, according to first unit normal vector and second unit normal vector, determine first plane and
The depth of parallelism parameter of second plane, including：
According to first unit normal vector and second unit normal vector, first unit normal vector and institute are determined
The angle of the second unit normal vector is stated, and using the angle as the depth of parallelism parameter of the first plane and second plane.
Optionally, using the coordinate value of each point, determine second plane in the default three-dimensional system of coordinate
Second unit normal vector, including：
Using the coordinate value of each point, it is based on following calculating formula, obtains each system of the plane equation of second plane
Number,
Wherein, a0、a1、a2The coefficient of the plane equation of respectively described second plane, i are of laser displacement sensor
Number, xiThe x-axis coordinate value of the point of second plane, y are reached for the laser that i-th of laser displacement sensor is sent outiIt is i-th
The laser that laser displacement sensor is sent out reaches the y-axis coordinate value of the point of second plane, ziIt is sensed for i-th of laser displacement
The laser that device is sent out reaches the z-axis coordinate value of the point of second plane；
Using each coefficient of the plane equation of second plane, it is based on following calculating formula, obtains second per unit system
Vector
Optionally, the origin of the default three-dimensional system of coordinate is any point in first plane, the default three-dimensional
The z-axis direction of coordinate system is to determine at least four laser displacement sensors default three perpendicular to the direction of first plane
Coordinate value in dimension coordinate system, including：
According to the fixed position information of each laser displacement sensor, the x-axis of each laser displacement sensor is determined
Coordinate value and y-axis coordinate value；
Obtain it is that each laser displacement sensor measurement obtains, at a distance from first plane, and according to described each
Laser displacement sensor determines the z-axis coordinate value of each laser displacement sensor at a distance from first plane.
Optionally, according to the coordinate value of each laser displacement sensor and each laser displacement sensor and described the
The distance of two planes determines that laser that each laser displacement sensor is sent out reaches the coordinate of each point in second plane
Value, including：
According to the x-axis coordinate value and y-axis coordinate value of each laser displacement sensor, the x-axis coordinate of each point is determined
Value and y-axis coordinate value；
It is flat according to the z-axis coordinate value of each laser displacement sensor and each laser displacement sensor and described second
The distance in face determines the z-axis coordinate value of each point.
According to the second aspect of the invention, a kind of adjusting apparatus of two plan-positions based on the depth of parallelism is provided, at least
Four laser displacement sensors are located at the top of the first plane, and the second plane is located at each laser displacement sensor and described
Between one plane, described device includes：
First determining module, for determining first unit normal vector of first plane in default three-dimensional system of coordinate and described
Coordinate value of each four laser displacement sensors in default three-dimensional system of coordinate；
Acquisition module, for obtain it is that each laser displacement sensor measurement obtains, at a distance from second plane；
Second determining module, for being sensed according to the coordinate value and each laser displacement of each laser displacement sensor
Device determines that the laser that each laser displacement sensor is sent out reaches in second plane at a distance from second plane
The coordinate value of each point；
Second unit normal vector determining module determines second plane in institute for the coordinate value using each point
State the second unit normal vector in default three-dimensional system of coordinate；
Depth of parallelism parameter determination module is used for according to first unit normal vector and second unit normal vector, really
The depth of parallelism parameter of fixed first plane and second plane；
Adjust module, for utilizing the depth of parallelism parameter, to the position of first plane and second plane into
Row adjustment.
Optionally, the depth of parallelism parameter determination module is additionally operable to：
According to first unit normal vector and second unit normal vector, first unit normal vector and institute are determined
The angle of the second unit normal vector is stated, and using the angle as the depth of parallelism parameter of the first plane and second plane.
Optionally, the second unit normal vector determining module is additionally operable to：
Using the coordinate value of each point, it is based on following calculating formula, obtains each system of the plane equation of second plane
Number,
Wherein, a0、a1、a2The coefficient of the plane equation of respectively described second plane, i are of laser displacement sensor
Number, xiThe x-axis coordinate value of the point of second plane, y are reached for the laser that i-th of laser displacement sensor is sent outiIt is i-th
The laser that laser displacement sensor is sent out reaches the y-axis coordinate value of the point of second plane, ziIt is sensed for i-th of laser displacement
The laser that device is sent out reaches the z-axis coordinate value of the point of second plane；
Using each coefficient of the plane equation of second plane, it is based on following calculating formula, obtains second per unit system
Vector
According to the third aspect of the invention we, a kind of adjustment system of two plan-positions based on the depth of parallelism is provided, including：
At least four laser displacement sensors, host and driving device, wherein
At least four laser displacement sensors are located at the top of the first plane, and the second plane is located at each laser displacement and passes
Between sensor and first plane；
Each laser displacement sensor is used to measure obtained range data and is sent to the host；
The host includes memory and processor, wherein the memory stores executable instruction, the executable finger
The control processor is enabled to be operated to execute following operation：Determine first list of first plane in default three-dimensional system of coordinate
The coordinate value of position normal vector and each four laser displacement sensors in default three-dimensional system of coordinate；
Obtain it is that each laser displacement sensor measurement obtains, at a distance from second plane；
According to the coordinate value of each laser displacement sensor and each laser displacement sensor and second plane
Distance, determine that laser that each laser displacement sensor is sent out reaches the coordinate value of each point in second plane；
Using the coordinate value of each point, second unit of second plane in the default three-dimensional system of coordinate is determined
Normal vector；
According to first unit normal vector and second unit normal vector, first plane and described second are determined
The depth of parallelism parameter of plane；
The driving device is used for：Using the depth of parallelism parameter, to first plane and/or second plane
Position is adjusted.
Optionally, the system also includes signals to convert amplifying device, for being sent out to each laser displacement sensor
Signal handled, and will treated that signal is sent to the host.
According to one embodiment of present invention, the quantitative measurment of the first plane and the depth of parallelism of the second interplanar is realized,
And according to the depth of parallelism parameter for measuring obtained the first plane and the second plane, it can accurately adjust the first plane and/or second
The position of plane so that the relative position of the first plane and the second plane meets depth of parallelism requirement.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Description of the drawings
It is combined in the description and the attached drawing of a part for constitution instruction shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 shows the flow of the method for adjustment of two plan-positions according to an embodiment of the invention based on the depth of parallelism
Schematic diagram.
Fig. 2 shows the angles of the normal vector according to an embodiment of the invention using two planes to indicate the depth of parallelism
Schematic diagram.
Fig. 3 show it is according to an embodiment of the invention using each laser displacement sensor measure with first plane away from
From schematic diagram.
Fig. 4 show it is according to an embodiment of the invention using each laser displacement sensor measure with second plane away from
From schematic diagram.
Fig. 5 shows that each laser displacement sensor according to an embodiment of the invention is flat to the first plane and second respectively
Face sends out the schematic diagram of laser.
Fig. 6 shows the structure of the adjusting apparatus of two plan-positions according to an embodiment of the invention based on the depth of parallelism
Schematic diagram.
Fig. 7 shows the structure of the adjustment system of two plan-positions according to an embodiment of the invention based on the depth of parallelism
Schematic diagram.
Specific implementation mode
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should be noted that：Unless in addition having
Body illustrates that the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to the present invention
And its application or any restrictions that use.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
In shown here and discussion all examples, any occurrence should be construed as merely illustrative, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.
The method of adjustment of An embodiment provides a kind of two plan-positions based on the depth of parallelism.The present invention is real
It applies in example, at least four laser displacement sensors are located at the top of the first plane, and the second plane is located at each laser displacement sensor
And first between plane.
Fig. 1 shows the flow of the method for adjustment of two plan-positions according to an embodiment of the invention based on the depth of parallelism
Schematic diagram.Referring to Fig. 1, this method includes at least step S101 to step S107.
Step S101 determines first unit normal vector and each four laser position of first plane in default three-dimensional system of coordinate
Coordinate value of the displacement sensor in default three-dimensional system of coordinate.
Step S102, obtain it is that each laser displacement sensor measurement obtains, at a distance from the second plane.
Step S103, according to the coordinate value of each laser displacement sensor and each laser displacement sensor and the second plane away from
From determining that laser that each laser displacement sensor sends out reaches the coordinate value of each point in the second plane.
Step S104 determines second per unit system of second plane in default three-dimensional system of coordinate using the coordinate value of each point
Vector.
Step S105 determines the first plane and the second plane according to the first unit normal vector and the second unit normal vector
Depth of parallelism parameter.
Step S106 compensates the depth of parallelism of the first plane and the second plane using depth of parallelism parameter.
In one embodiment of the present of invention, according to the first unit normal vector and the second unit normal vector, the first unit is determined
The angle of normal vector and the second unit normal vector, and join the angle as the depth of parallelism of the first plane and second plane
Number.Fig. 2 shows the signals that the angle of the normal vector according to an embodiment of the invention using two planes indicates the depth of parallelism
Figure.Fig. 2 shows two planes, i.e. plane A and plane B.Using any point in A planes as origin O, with perpendicular to A planes
Direction as z-axis direction, establish a three-dimensional system of coordinate.According to the three-dimensional system of coordinate, the unit normal vector of A planes is determinedWith
The unit normal vector of B planesThen, the unit normal vector of A planes is calculatedWith the unit normal vector of B planes's
Angle theta, and using the angle theta as the depth of parallelism parameter of plane A and plane B.
In one embodiment of the present of invention, first, using the coordinate value of each point, it is based on following calculating formula, obtains described the
Each coefficient of the plane equation of two planes,
Wherein, a0、a1、a2The respectively coefficient of the plane equation of the second plane, i are the number of laser displacement sensor, xi
The x-axis coordinate value of the point of the second plane, y are reached for the laser that i-th of laser displacement sensor is sent outiFor i-th of laser displacement
The laser that sensor is sent out reaches the y-axis coordinate value of the point of the second plane, ziThe laser sent out for i-th of laser displacement sensor
Reach the z-axis coordinate value of the point of the second plane.Then, using each coefficient of the plane equation of the second plane, it is based on following calculating
Formula obtains the second unit normal vector
Finally, according to the angle calcu-lation formula of space vector, the first unit normal vector is obtainedWith the second unit normal vectorAngle, and using the angle as the depth of parallelism parameter of the first plane and the second plane.
By setting above the first plane there are four for laser displacement sensor, two plane provided by the invention is being assembled
The compensation method of the depth of parallelism illustrates in the process.In the embodiment of the present invention, default three-dimensional system of coordinate is in the first plane
Any point as origin O, using perpendicular to the direction of the first plane as the direction of z-axis.
Fig. 3 show it is according to an embodiment of the invention using each laser displacement sensor measure with first plane away from
From schematic diagram.Laser displacement sensor 31, laser displacement sensor 32 shown in Fig. 3, laser displacement sensor 33, laser position
Displacement sensor 34 is respectively positioned on the top of the first plane A.According to the fixed position information of each laser displacement sensor, it may be determined that each to swash
X-axis coordinate value and y-axis coordinate value of the Optical displacement sensor in default three-dimensional system of coordinate.For example, tester can be in each laser
Test obtains fixed position information in the installation process of displacement sensor, and is input in host.Each laser displacement sensing
The transmitter of device emits laser to the first plane A, and laser returns to each laser displacement sensor after the first plane A reflections, according to
Geometric triangulation principle, each laser displacement sensor can measure the distance between itself and the first plane A, i.e. z1、z2、z3、
z4.According to each laser displacement sensor at a distance from the first plane A, the z-axis coordinate value of each laser displacement sensor is determined.This
Sample, laser displacement sensor 31, laser displacement sensor 32, laser displacement sensor 33, laser displacement sensor 34 are default
Coordinate value in three-dimensional system of coordinate is respectively：(x1, y1, z1)、(x2, y2, z2)、(x3, y3, z3)、(x4, y4, z4)。
During the second plane B and the first plane A are assembled, the second plane B is moved into each laser displacement shown in Fig. 3
Between sensor and the first plane A.Referring to Fig. 4, each laser displacement sensor transmitter emits laser, laser to the second plane B
After the second plane B reflections, each laser displacement sensor is returned to, according to geometric triangulation principle, each laser displacement sensor
The distance between itself and the second plane B, i.e. z can be measured1'、z2'、z3'、z4'.Referring to Fig. 5, each laser displacement sensor to
The laser that first plane A is sent out is represented by dashed line, the laser solid line table that each laser displacement sensor is sent out to the second plane B
Show.According to Fig. 5, it can be seen that the laser that each laser displacement sensor is sent out reaches the x-axis coordinate value of each point on the second plane B
It is the x-axis coordinate value and y-axis coordinate value of each laser displacement sensor with y-axis coordinate value.What each laser displacement sensor was sent out
The z-axis coordinate value that laser reaches each point on the second plane B is respectively Δ z1、Δz2、Δz3、Δz4, wherein Δ z1=z1-
z1', Δ z2=z2-z2', Δ z3=z3-z3', Δ z4=z4-z4′.In this way, laser displacement sensor 31, laser displacement sensor
32, the laser that laser displacement sensor 33, laser displacement sensor 34 are sent out reaches each point on the second plane B in default three-dimensional
Coordinate value in coordinate system is respectively：(x1, y1, Δ z1)、(x2, y2, Δ z2)、(x3, y3, Δ z3)、(x4, y4, Δ z4)。
In the embodiment of the present invention, the plane equation for presetting the second plane B is z=a0x+a1y+a2.Utilize above-mentioned each laser position
The laser that displacement sensor is sent out reaches the coordinate value of each point on the second plane B, and the plane equation of the second plane can be obtained.Principle
It is as follows：Laser that each laser displacement sensor is sent out reaches the space plane that each point on the second plane B most approaches, meet this four
A point is to the sum of the range deviation of space plane minimum, wherein this four points can to the sum of the range deviation of space plane S
It is indicated with following calculating formula：
Wherein, (xi、yi、Δzi) it is that the laser that i-th of laser displacement sensor is sent out reaches the point on the second plane B
Coordinate value, a0、a1、a2For the coefficient of the plane equation of the second plane B.Aforementioned four point to the space plane range deviation it
And minimum, S can be obtained respectively to a0、a1、a2Partial derivative be 0, i.e.,：
In particular：
Above-mentioned calculating formula (5), (6), (7) are arranged, can be obtained,
The expression formula of each coefficient of the plane equation of the second plane is obtained according to calculating formula (8), i.e., above-mentioned calculating formula (1).
Then, using above-mentioned calculating formula (2), the second unit normal vector of the second plane can be obtainedAccording to default three-dimensional system of coordinate, really
The first unit normal vector of fixed first plane AFor (0,0,1).Then, according to the angle calcu-lation formula of space vector, is obtained
One unit normal vectorWith the second unit normal vectorAngle theta, that is,
And using the angle theta as the depth of parallelism parameter of the first plane A and the second plane B.Finally, the angle theta pair is utilized
The depth of parallelism of one plane A and the second plane B compensate.Such as.According to the angle theta of the first plane A and the second plane B, to
The position of one plane A and/or the second plane B are adjusted so that the depth of parallelism of the first plane A and the second plane B meets assembling
It is required that.
Show it should be noted that the number for the laser displacement sensor enumerated in above-described embodiment is merely possible to one
Example does not cause any restriction to the present invention.The number of laser displacement sensor of the present invention can be any of >=4
Number.
The method of adjustment of two plan-positions provided by the invention based on the depth of parallelism be applicable in camera lens module camera lens and
The assembling of sensitive chip.
Based on same inventive concept, the adjusting apparatus of the present invention provides a kind of two plan-positions based on the depth of parallelism.This
In inventive embodiments, at least four laser displacement sensors are located at the top of the first plane, and the second plane is located at each laser
Between displacement sensor and first plane.
Fig. 6 shows the structure of the adjusting apparatus of two plan-positions according to an embodiment of the invention based on the depth of parallelism
Schematic diagram.The device includes at least：First determining module 610, for determining the first plane the in default three-dimensional system of coordinate
The coordinate value of one unit normal vector and each four laser displacement sensors in default three-dimensional system of coordinate；Acquisition module 620, is used for
Obtain it is that each laser displacement sensor measurement obtains, at a distance from the second plane；Second determining module 630, for being swashed according to each
The coordinate value of Optical displacement sensor and each laser displacement sensor determine each laser displacement sensor hair at a distance from the second plane
The laser gone out reaches the coordinate value of each point in the second plane；Second unit normal vector determining module 640, for utilizing each point
Coordinate value determines second unit normal vector of second plane in default three-dimensional system of coordinate；Depth of parallelism parameter determination module 650,
For according to the first unit normal vector and the second unit normal vector, determining the depth of parallelism parameter of the first plane and the second plane；It adjusts
Mould preparation block 660 is adjusted the position of the first plane and the second plane for utilizing depth of parallelism parameter.
In one embodiment of the present of invention, depth of parallelism parameter determination module 650 is additionally operable to：According to the first unit normal vector and
Second unit normal vector determines the angle of the first unit normal vector and the second unit normal vector, and using angle as the first plane
With the depth of parallelism parameter of the second plane.
In one embodiment of the present of invention, the second unit normal vector determining module 640 is additionally operable to：First, each point is utilized
Coordinate value is based on following calculating formula, obtains each coefficient of the plane equation of the second plane,
Wherein, a0、a1、a2The respectively coefficient of the plane equation of the second plane, i are the number of laser displacement sensor, xi
The x-axis coordinate value of the point of the second plane, y are reached for the laser that i-th of laser displacement sensor is sent outiFor i-th of laser displacement
The laser that sensor is sent out reaches the y-axis coordinate value of the point of the second plane, ziThe laser sent out for i-th of laser displacement sensor
Reach the z-axis coordinate value of the point of the second plane；Then, using each coefficient of the plane equation of the second plane, it is based on following calculating
Formula obtains the second unit normal vector
Based on same inventive concept, the adjustment system of the present invention provides a kind of two plan-positions based on the depth of parallelism.It should
System includes：At least four laser displacement sensors, host and driving device.Fig. 7 illustrates only each laser displacement of the system
Sensor 710 and host 720.Wherein, each laser displacement sensor 710 is located at the top of the first plane A, and the second plane B is located at
Between each laser displacement sensor 710 and the first plane A.The number of laser displacement sensor shown in Fig. 7 is merely possible to
One example does not cause any restriction to the present invention.
Each laser displacement sensor 710 is used to measure obtained range data and is sent to host 720.
Host 720 includes memory and processor, wherein memory stores executable instruction, at executable instruction control
Reason device is operated to execute following operation：Determine first unit normal vector of first plane in default three-dimensional system of coordinate and each
Coordinate value of four laser displacement sensors in default three-dimensional system of coordinate；Obtain it is that each laser displacement sensor measurement obtains,
At a distance from the second plane；According to the coordinate value of each laser displacement sensor and each laser displacement sensor and the second plane away from
From determining that laser that each laser displacement sensor sends out reaches the coordinate value of each point in the second plane；Utilize the coordinate of each point
Value determines second unit normal vector of second plane in default three-dimensional system of coordinate；It is single according to the first unit normal vector and second
Position normal vector, determines the depth of parallelism parameter of the first plane and the second plane.
Driving device is used for：Using depth of parallelism parameter, the position of the first plane and/or the second plane is adjusted.It drives
Dynamic device can be manipulator.
In one embodiment of the present of invention, referring to Fig. 7, which further includes signal conversion amplifying device 730, for each
The signal that laser displacement sensor 710 is sent out is handled, and signal is sent to host 720 by treated.
The present invention can be system, method and/or computer program product.Computer program product may include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the invention.
Computer readable storage medium can be can keep and store the instruction used by instruction execution equipment tangible
Equipment.Computer readable storage medium for example can be-- but be not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electromagnetism storage device, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer readable storage medium
More specific example (non exhaustive list) includes：Portable computer diskette, random access memory (RAM), read-only is deposited hard disk
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static RAM (SRAM), portable
Compact disk read-only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
It is stored with punch card or groove internal projection structure and the above-mentioned any appropriate combination of instruction.Calculating used herein above
Machine readable storage medium storing program for executing is not interpreted that instantaneous signal itself, the electromagnetic wave of such as radio wave or other Free propagations lead to
It crosses the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or is transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer readable storage medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, fire wall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
For execute the computer program instructions that operate of the present invention can be assembly instruction, instruction set architecture (ISA) instruction,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
Arbitrarily combine the source code or object code write, programming language include object-oriented programming language-such as Smalltalk,
C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer-readable program refers to
Order can be executed fully, partly be executed on the user computer, as an independent software package on the user computer
Execute, part on the user computer part on the remote computer execute or completely on a remote computer or server
It executes.In situations involving remote computers, remote computer can include LAN by the network-of any kind
(LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize internet
Service provider is connected by internet).In some embodiments, believe by using the state of computer-readable program instructions
Breath comes personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or programmable logic
Array (PLA), the electronic circuit can execute computer-readable program instructions, to realize various aspects of the invention.
Referring herein to according to the method for the embodiment of the present invention, the flow chart of device (system) and computer program product and/
Or block diagram describes various aspects of the invention.It should be appreciated that flowchart and or block diagram each box and flow chart and/
Or in block diagram each box combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to all-purpose computer, special purpose computer or other programmable datas
The processor of processing unit, to produce a kind of machine so that these instructions are passing through computer or other programmable datas
When the processor of processing unit executes, work(specified in one or more of implementation flow chart and/or block diagram box is produced
The device of energy/action.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to
It enables so that computer, programmable data processing unit and/or other equipment work in a specific way, to be stored with instruction
Computer-readable medium includes then a manufacture comprising in one or more of implementation flow chart and/or block diagram box
The instruction of the various aspects of defined function action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment so that series of operation steps are executed on computer, other programmable data processing units or miscellaneous equipment, with production
Raw computer implemented process, so that executed on computer, other programmable data processing units or miscellaneous equipment
Instruct function action specified in one or more of implementation flow chart and/or block diagram box.
Flow chart and block diagram in attached drawing show the system, method and computer journey of multiple embodiments according to the present invention
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
One module of table, program segment or a part for instruction, module, program segment or a part for instruction include one or more for real
The executable instruction of logic function as defined in existing.In some implementations as replacements, the function of being marked in box can also
Occur in a different order than that indicated in the drawings.For example, two continuous boxes can essentially be basically executed in parallel, it
Can also execute in the opposite order sometimes, this is depended on the functions involved.It is also noted that block diagram and/or flow
The combination of each box in figure and the box in block diagram and or flow chart can use function or action as defined in executing
Dedicated hardware based system is realized, or can be realized using a combination of dedicated hardware and computer instructions.For this
It is well known that, realized by hardware mode for field technology personnel, software and hardware is realized and passed through by software mode
In conjunction with mode realize it is all of equal value.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
In principle, the practical application or to the technological improvement in market for best explaining each embodiment, or make the art its
Its those of ordinary skill can understand each embodiment disclosed herein.The scope of the present invention is defined by the appended claims.
Claims (10)
1. a kind of method of adjustment of two plan-positions based on the depth of parallelism, which is characterized in that at least four laser displacement sensors
Positioned at the top of the first plane, the second plane is between each laser displacement sensor and first plane, the side
Method includes：
Determine first unit normal vector and each four laser displacement sensor of first plane in default three-dimensional system of coordinate
Coordinate value in default three-dimensional system of coordinate；
Obtain it is that each laser displacement sensor measurement obtains, at a distance from second plane；
According to the coordinate value of each laser displacement sensor and each laser displacement sensor and second plane away from
From determining that laser that each laser displacement sensor is sent out reaches the coordinate value of each point in second plane；
Using the coordinate value of each point, second unit normal direction of second plane in the default three-dimensional system of coordinate is determined
Amount；
According to first unit normal vector and second unit normal vector, first plane and second plane are determined
Depth of parallelism parameter；
Using the depth of parallelism parameter, the position of first plane and/or second plane is adjusted.
2. according to the method described in claim 1, it is characterized in that, according to first unit normal vector and second unit
Normal vector determines the depth of parallelism parameter of first plane and second plane, including：
According to first unit normal vector and second unit normal vector, first unit normal vector and described are determined
The angle of two unit normal vectors, and using the angle as the depth of parallelism parameter of the first plane and second plane.
3. method according to claim 1 or 2, which is characterized in that using the coordinate value of each point, determine described second
Second unit normal vector of the plane in the default three-dimensional system of coordinate, including：
Using the coordinate value of each point, it is based on following calculating formula, obtains each coefficient of the plane equation of second plane,
Wherein, a0、a1、a2The coefficient of the plane equation of respectively described second plane, i are the number of laser displacement sensor, xi
The x-axis coordinate value of the point of second plane, y are reached for the laser that i-th of laser displacement sensor is sent outiFor i-th of laser
The laser that displacement sensor is sent out reaches the y-axis coordinate value of the point of second plane, ziIt is sent out for i-th of laser displacement sensor
The laser gone out reaches the z-axis coordinate value of the point of second plane；
Using each coefficient of the plane equation of second plane, it is based on following calculating formula, obtains second unit normal vector
4. according to the method described in claim 3, it is characterized in that, the origin of the default three-dimensional system of coordinate is described first flat
Any point on face, the z-axis direction of the default three-dimensional system of coordinate are to determine at least four perpendicular to the direction of first plane
Coordinate value of a laser displacement sensor in default three-dimensional system of coordinate, including：
According to the fixed position information of each laser displacement sensor, the x-axis coordinate of each laser displacement sensor is determined
Value and y-axis coordinate value；
Obtain it is that each laser displacement sensor measurement obtains, at a distance from first plane, and according to each laser
Displacement sensor determines the z-axis coordinate value of each laser displacement sensor at a distance from first plane.
5. according to the method described in claim 4, it is characterized in that, according to the coordinate value of each laser displacement sensor and institute
Each laser displacement sensor is stated at a distance from second plane, determines that the laser that each laser displacement sensor is sent out reaches
The coordinate value of each point in second plane, including：
According to the x-axis coordinate value and y-axis coordinate value of each laser displacement sensor, the x-axis coordinate value and y of each point are determined
Axial coordinate value；
According to the z-axis coordinate value of each laser displacement sensor and each laser displacement sensor and second plane
Distance determines the z-axis coordinate value of each point.
6. a kind of adjusting apparatus of two plan-positions based on the depth of parallelism, which is characterized in that at least four laser displacement sensors
Positioned at the top of the first plane, the second plane is between each laser displacement sensor and first plane, the dress
Set including：
First determining module, for determining first unit normal vector and described each four of first plane in default three-dimensional system of coordinate
Coordinate value of a laser displacement sensor in default three-dimensional system of coordinate；
Acquisition module, for obtain it is that each laser displacement sensor measurement obtains, at a distance from second plane；
Second determining module, for according to the coordinate value of each laser displacement sensor and each laser displacement sensor with
The distance of second plane determines that laser that each laser displacement sensor is sent out reaches each point in second plane
Coordinate value；
Second unit normal vector determining module determines second plane described pre- for the coordinate value using each point
If the second unit normal vector in three-dimensional system of coordinate；
Depth of parallelism parameter determination module, for according to first unit normal vector and second unit normal vector, determining institute
State the depth of parallelism parameter of the first plane and second plane；
Module is adjusted, for utilizing the depth of parallelism parameter, the position of first plane and second plane is adjusted
It is whole.
7. device according to claim 6, which is characterized in that the depth of parallelism parameter determination module is additionally operable to：
According to first unit normal vector and second unit normal vector, first unit normal vector and described are determined
The angle of two unit normal vectors, and using the angle as the depth of parallelism parameter of the first plane and second plane.
8. the device described according to claim 6 or 7, which is characterized in that the second unit normal vector determining module is additionally operable to：
Using the coordinate value of each point, it is based on following calculating formula, obtains each coefficient of the plane equation of second plane,
Wherein, a0、a1、a2The coefficient of the plane equation of respectively described second plane, i are the number of laser displacement sensor, xi
The x-axis coordinate value of the point of second plane, y are reached for the laser that i-th of laser displacement sensor is sent outiFor i-th of laser
The laser that displacement sensor is sent out reaches the y-axis coordinate value of the point of second plane, ziIt is sent out for i-th of laser displacement sensor
The laser gone out reaches the z-axis coordinate value of the point of second plane；
Using each coefficient of the plane equation of second plane, it is based on following calculating formula, obtains second unit normal vector
9. a kind of adjustment system of two plan-positions based on the depth of parallelism, which is characterized in that including：At least four laser displacements pass
Sensor, host and driving device, wherein
At least four laser displacement sensors are located at the top of the first plane, and the second plane is located at each laser displacement sensor
Between first plane；
Each laser displacement sensor is used to measure obtained range data and is sent to the host；
The host includes memory and processor, wherein the memory stores executable instruction, the executable instruction control
The processor is made to be operated to execute following operation：Determine first per unit system of first plane in default three-dimensional system of coordinate
Coordinate value of each four laser displacement sensors described in vector sum in default three-dimensional system of coordinate；
Obtain it is that each laser displacement sensor measurement obtains, at a distance from second plane；
According to the coordinate value of each laser displacement sensor and each laser displacement sensor and second plane away from
From determining that laser that each laser displacement sensor is sent out reaches the coordinate value of each point in second plane；
Using the coordinate value of each point, second unit normal direction of second plane in the default three-dimensional system of coordinate is determined
Amount；
According to first unit normal vector and second unit normal vector, first plane and second plane are determined
Depth of parallelism parameter；
The driving device is used for：Using the depth of parallelism parameter, to the position of first plane and/or second plane
It is adjusted.
10. system according to claim 9, which is characterized in that the system also includes signals to convert amplifying device, is used for
The signal sent out to each laser displacement sensor is handled, and signal is sent to the host by treated.
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