CN108827148A - Rotating accuracy measurement method and measuring device - Google Patents
Rotating accuracy measurement method and measuring device Download PDFInfo
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- CN108827148A CN108827148A CN201810508089.0A CN201810508089A CN108827148A CN 108827148 A CN108827148 A CN 108827148A CN 201810508089 A CN201810508089 A CN 201810508089A CN 108827148 A CN108827148 A CN 108827148A
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The present invention provides a kind of rotating accuracy measurement method and measuring device, the method includes：The fisrt feature o'clock is extracted in the coordinate (x of the first image11,y11) and coordinate (x in the second image12,y12), and the second feature o'clock is extracted in the coordinate (x of the first image21,y21) and coordinate (x in the second image22,y22)；According to (x11,y11) and (x21,y21) determine first party parallactic angle θ1；According to (x12,y12) and (x22,y22) determine second party parallactic angle θ2, according to the first party parallactic angle θ1With the second party parallactic angle θ2Angle theta=θ2‑θ1；Compare the driving angle size in the angle theta and driving instruction, the rotation precision of revolving platform to be tested is determined according to comparison result.The coordinate of fisrt feature point and second feature point when preceding method obtains the first moment and the second moment using image capturing system respectively, the driving angle in the angle and driving instruction between straight line determined using two moment coordinates, two characteristic point coordinate lines is compared, determine rotating accuracy, with realizing rotating accuracy quick and accurate judgement.
Description
Technical field
The present invention relates to machinery equipment detection technique field, in particular to a kind of rotating accuracy measurement method and measurement dress
It sets.
Background technique
The mechanical equipments such as tank, excavator have particular/special requirement to the angle of revolution precision of revolving platform, therefore in it
Encoder of the portion configured with measurement angle of revolution.Before aforementioned device factory, encoder and revolving platform to be tested have preferably
Cooperation precision, encoder measurement angle of revolution it is identical with the angle of revolution of mechanical part actual motion stroke, can guarantee
The precision controlling of equipment revolution；And after revolving platform to be tested carries out large repairs, change because the operating of mechanical equipment is specific
Become, so the encoding characteristics of encoder and the operation characteristic of mechanical part no longer match, cause encoder cannot reflect strictly according to the facts to
The angle of revolution for testing revolving platform causes the control to revolving platform to be tested inaccurate, influences the normal reality of relevant work
It is existing, therefore the rotating accuracy after overhaul how is verified, determine that equipment state is a major issue.
Summary of the invention
To solve the problem of to need to verify revolving platform rotating accuracy after equipment rebuilding, the present invention provides a kind of revolution essence
Spend measurement method and measuring device.
The present invention provides a kind of rotating accuracy measurement method, and the figure of revolving platform rotation axis to be tested is parallel to using optical axis
The region on revolving platform to be tested comprising fisrt feature point and second feature point is shot as acquisition device；
Wherein the fisrt feature point and second feature point position are not overlapped；The method includes：
Revolving platform to be tested is shot at the first moment and forms the first image, shoots revolving platform to be tested at the second moment
Form the second image；The fisrt feature o'clock is extracted in the coordinate (x of the first image11,y11) and coordinate in the second image
(x12,y12), and the second feature o'clock is extracted in the coordinate (x of the first image21,y21) and coordinate in the second image
(x22,y22)；
According to (x11,y11) and (x21,y21) determine first party parallactic angle θ1；According to (x12,y12) and (x22,y22) determine second party
Parallactic angle θ2, according to the first party parallactic angle θ1With the second party parallactic angle θ2Angle theta=θ2-θ1；
Compare the driving angle size in the angle theta and driving instruction, solves to determine that fixed revolution to be tested is flat according to comparing
The rotation precision of platform.
Optionally, θ1=arctan (y21-y11)/(x21-x11), θ2=arctan (y22-y12)/(x22-x12)。
Optionally, revolving platform to be tested includes fixed part and can do the stretching of pitching motion relative to the fixed part
Portion；
The fisrt feature point is mounted on the fixing part；The second feature point is mounted on the extension.
Optionally, the line of the fisrt feature point and second feature point without revolving platform to be tested rotation
Axis；
The fixed part and the extension delivery position are provided with third feature point, the third feature point and described
The line of second feature point passes through the rotation axis of revolving platform to be tested；Coordinate of the third feature o'clock in the first image be
(x31,y31), the coordinate in the second image is (x32,y32)；
The first party parallactic angle θ is obtained according to following methods1：
Obtain (x'21,y'21), wherein x'21=x31+(x21-x31)/sinα1, y'21=y31+(y21-y31)/sinα1, α1For
Pitch angle of the extension relative to fixed part when the first moment；
According to (x'21,y'21) and (x11,y11) determine first party parallactic angle θ1, θ1=arctan (y'21-y11)/(x'21-x11)；
The second party parallactic angle θ is obtained according to following methods2：
Obtain (x'22,y'22), wherein x'22=x32+(x22-x32)/sinα2, y'22=y32+(y22-y32)/sinα2, α2For
Pitch angle of the extension relative to fixed part when the second moment；
According to (x'22,y'22) and (x12,y12) determine second party parallactic angle θ2, θ2=arctan (y'22-y12)/(x'22-x12)。
The present invention also provides a kind of rotating accuracy measuring devices, including：
Fisrt feature point and second feature point on revolving platform to be tested, the fisrt feature point and described are set
The position of two characteristic points is not overlapped；
Optical axis is parallel to revolving platform rotation axis to be tested, and can shoot on revolving platform to be tested comprising fisrt feature
The image collecting device of point and second feature point region；
Described image acquisition device shoots revolving platform to be tested at the first moment and forms the first image, claps at the second moment
It takes the photograph revolving platform to be tested and forms the second image；Coordinate extraction unit, for extracting the fisrt feature o'clock in the first image
Coordinate (x11,y11) and coordinate (x in the second image12,y12), and the second feature o'clock is extracted in the seat of the first image
Mark (x21,y21) and coordinate (x in the second image22,y22)；
Angle calcu-lation unit, for according to (x11,y11) and (x21,y21) determine first party parallactic angle θ1；According to (x12,y12) and
(x22,y22) determine second party parallactic angle θ2, and calculate the first party parallactic angle θ1With the second party parallactic angle θ2Angle theta=θ2-
θ1；
Precision determination unit, it is true according to comparison result for the driving angle size in the angle theta and driving instruction
The rotation precision of fixed revolving platform to be tested.
Optionally, the θ1=arctan (y21-y11)/(x21-x11), θ2=arctan (y22-y12)/(x22-x12)；
Optionally, revolving platform to be tested includes fixed part and can do the stretching of pitching motion relative to the fixed part
Portion；
The fisrt feature point is mounted on the fixing part；The second feature point is mounted on the extension；
Optionally, the line of the fisrt feature point and second feature point without revolving platform to be tested rotation
Axis；
It further include the third feature point that the fixed part and the extension delivery position are set, the third feature point
Pass through the rotation axis of revolving platform to be tested with the line of the second feature point；The third feature o'clock is in the first image
Coordinate is (x31,y31), the coordinate in the second image is (x32,y32)；
The computing unit obtains the first party parallactic angle θ according to following methods1：
Obtain (x'21,y'21), wherein x'21=x31+(x21-x31)/sinα1, y'21=y31+(y21-y31)/sinα1, α1For
Pitch angle of the extension relative to fixed part when the first moment；
According to (x'21,y'21) and (x11,y11) determine first party parallactic angle θ1, θ1=arctan (y'21-y11)/(x'21-x11)；
The computing unit obtains the second party parallactic angle θ according to following methods2：
Obtain (x'22,y'22), wherein x'22=x32+(x22-x32)/sinα2, y'22=y32+(y22-y32)/sinα2, α2For
Pitch angle of the extension relative to fixed part when the second moment；
According to (x'22,y'22) and (x12,y12) determine second party parallactic angle θ2, θ2=arctan (y'22-y12)/(x'22-x12)。
Rotating accuracy measurement method and measuring device provided by the invention, when obtaining first respectively using image capturing system
The coordinate with fisrt feature point and second feature point when the second moment is carved, two moment coordinates, two characteristic point coordinate lines are utilized
Driving angle in angle and driving instruction between determining straight line is compared, and determines rotating accuracy, with realizing rotating accuracy
Quick and accurate judgement.
To the accomplishment of the foregoing and related purposes, one or more aspects of the present invention include be particularly described below and
The feature particularly pointed out in claim.Certain illustrative aspects of the invention is described in detail in the following description and the annexed drawings.
However, these aspects indicate only usable some of the various ways in the principles of the present invention.In addition, of the invention
It is intended to include all such aspects and their equivalent.
Detailed description of the invention
By reference to the following description in conjunction with the accompanying drawings and the contents of the claims, and with to it is of the invention more comprehensively
Understand, other objects and results of the present invention will be more clearly understood and understood.In the accompanying drawings：
Fig. 1 is rotating accuracy measurement method usage scenario schematic diagram provided in an embodiment of the present invention；
Fig. 2 is the flow chart of rotating accuracy measurement method provided in an embodiment of the present invention；
Fig. 3 is rotating accuracy measurement method measurement θ1Schematic illustration；
Fig. 4 is the schematic diagram of rotating accuracy measuring device；
Wherein：11- fisrt feature point, 12- second feature point, 13- third feature point, 14- image collecting device, 15- are sat
Mark extraction unit, 16- angle calcu-lation unit, 17- precision determination unit.
Identical label indicates similar or corresponding feature or function in all the appended drawings.
Specific embodiment
Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is rotating accuracy measurement method usage scenario schematic diagram provided in an embodiment of the present invention.As shown in Figure 1, this hair
Rotating accuracy measurement of the rotating accuracy measurement method that bright embodiment provides for revolving platforms such as tank turrets.Specifically
, fisrt feature point 11 and second feature point 12 are provided on revolving platform, fisrt feature point 11 and second feature point 12 are wrong
Position setting.
Image collecting device 14 is provided with above revolving platform, the optical axis of acquisition camera in image collecting device 14
It is parallel to the rotation axis of revolving platform to be tested.It includes fisrt feature point 11 in revolving platform that image collecting device 14, which can be shot,
With the region of second feature point 12.
Fig. 2 is the flow chart of rotating accuracy measurement method provided in an embodiment of the present invention.As shown in Fig. 2, the present invention is implemented
The rotating accuracy measurement method that example provides includes the following steps.
S101：Revolving platform to be tested is shot at the first moment and forms the first image, is shot to be tested time at the second moment
Turn platform and forms the second image；.
S102:Fisrt feature point 11 is extracted in the coordinate (x of the first image11,y11) and coordinate (x in the second image12,
y12), and second feature point 12 is extracted in the coordinate (x of the first image21,y21) and coordinate (x in the second image22,y22)。
After obtaining the first image and the second image, coordinate (x of the fisrt feature point 11 in the first image is extracted respectively11,
y11) and coordinate (x in the second image12,y12) and coordinate (x of the second feature point 12 in the first image21,y21) and
Coordinate (x in second image22,y22)。
S103:According to (x11,y11) and (x21,y21) determine first party parallactic angle θ1；According to (x12,y12) and (x22,y22) determine
Second party parallactic angle θ2, calculate first party parallactic angle θ1With second party parallactic angle θ2Angle theta θ=θ2-θ1。
Fig. 3 is rotating accuracy measurement method measurement θ1Schematic illustration.As shown in figure 3, the revolution essence in the present embodiment
Spend measuring device in the line of fisrt feature point 11 and second feature point 12 without revolving platform to be tested rotation axis；First
On the fixed part of revolving platform, second feature point 12 is located at turn around in platform and can fix portion relatively to do pitching dynamic characteristic point 11
On the extension of work.In addition, being additionally provided with third feature point 13 at fixed part and rotating part link position.Third feature point 13
It is (x in the coordinate of the first image31,y31), the coordinate in the second image is (x32,y32)。
In revolving platform rotation process, extension can relatively do pitching movement.Because of fisrt feature point 11 and
Three characteristic points 13 are respectively positioned on fixed part, so the relative position of the two does not change；And because second feature point 12 is located at
On extension, when extension is with respect to pitching motion, the position relative to fisrt feature point 11 and third feature point 13 can be sent out
Changing, therefore can not directly utilize the coordinate line of fisrt feature point 11 and second feature point 12 in the first image to determine
First party parallactic angle θ1With the second orientation determined using the line of fisrt feature point 11 and second feature point 12 in the second image
Angle θ2It compares, but needs the coordinate by second feature point 12 to project on datum plane, then be compared.
In this implementation, datum plane can choose plane when pitch angle is 0 degree, and also can choose datum plane is pitching
Angle is the plane of other angles.Specifically, first party parallactic angle θ1Acquisition methods it is as follows：
Firstly, according to (x21,y21) and (x31,y31) obtain (x11,y11) coordinate (x' on datum plane21,y'21),
x'21=x31+(x21-x31)/sinα1, y'21=y31+(y21-y31)/sinα1, α1Extension is relative to fixation when for the first moment
The pitch angle in portion；
Then, according to (x'21,y'21) and and (x11,y11) determine first party parallactic angle θ1, θ1=arctan (y'21-y11)/
(x'21-x11)。
Likewise, second party parallactic angle θ2Acquisition methods it is as follows：
Firstly, obtaining (x'22,y'22), wherein x'22=x32+(x22-x32)/sinα2, y'22=y32+(y22-y32)/sin
α2, α2Pitch angle of the extension relative to fixed part when for the second moment；
Secondly, according to (x'22,y'22) and (x12,y12) determine second party parallactic angle θ2, θ2=arctan (y'22-y12)/
(x'22-x12)。
S104：Compare the driving angle size in angle theta and driving instruction, revolving platform to be tested is determined according to comparison result
Rotation precision.
Finally, being to drive angle size in driving instruction accordingly according to the angle of revolving platform actual rotation, so that it may sentence
Whether the rotating accuracy of disconnected revolving platform reaches corresponding standard.
In concrete application, such as the first moment and the second moment are separated by very little, then can be determined that the rotational speed of revolving platform
Whether established standards are reached；If the first moment and the second moment are separated by larger, the angle of revolution of revolving platform can be determined that
Whether established standards are reached.
In preceding method, first party parallactic angle θ1Specified point coordinate can be extracted immediately after shooting the first image and calculate
It arrives, can also be obtained together with the second image procossing after completing the second image measurement.
In the present embodiment, in order to guarantee that extension does pitching motion not in the revolving platforms turning course such as tank turret
It will affect rotating accuracy, need to make revolving platform while carrying out revolution movement and pitching motion.
Certainly, in other embodiments, it is also ensured that extension is fixed relative to fixed part, both in turning course
Relative displacement does not occur, in this way, third feature point 13 can no longer be arranged, and fisrt feature point 11 and second feature point is used only
12。
In addition, in other embodiments, if the line of fisrt feature point 11 and second feature point 12 passes through revolving platform
Rotation axis, extension can also fix relatively portion and do revolution movement, have no effect on the measurement of aforementioned angular.
Specifically, in other embodiments, if fisrt feature point 11 and second feature point 12, θ above-mentioned is only arranged1
=arctan (y21-y11)/(x21-x11), θ2=arctan (y22-y12)/(x22-x12)
Other than providing rotating accuracy measurement method above-mentioned, the embodiment of the present invention also provides a kind of aforementioned revolution essence of realization
Spend the rotating accuracy measuring device of measurement method.Fig. 4 is the schematic diagram of rotating accuracy measuring device.As shown in figure 4, rotating accuracy
Measuring device includes image collecting device 14, coordinate extraction unit 15, angle calcu-lation unit 16 and precision determination unit 17, separately
It outside, further include fisrt feature point 11 and second feature point 12 above-mentioned.
The optical axis of image collecting device 14 is parallel to revolving platform rotation axis to be tested, and it is flat to shoot revolution to be tested
It include 12 region of fisrt feature point 11 and second feature point on platform；Image collecting device 14 shoots revolution to be tested at the first moment
Platform forms the first image, shoots revolving platform to be tested at the second moment and forms the second image.
Coordinate extraction unit 15 is for extracting fisrt feature point 11 in the coordinate (x of the first image11,y11) and in the second figure
Coordinate (x as in12,y12), and second feature point 12 is extracted in the coordinate (x of the first image21,y21) and in the second image
Coordinate (x22,y22)。
Angle calcu-lation unit 16 is used for according to (x11,y11) and (x21,y21) determine first party parallactic angle θ1；According to (x12,y12)
(x22,y22) determine second party parallactic angle θ2, according to first party parallactic angle θ1With second party parallactic angle θ2Angle theta, θ=θ2-θ1。
Precision determination unit 17 is used to compare the driving angle size in angle theta and driving instruction, is determined according to comparison result
The rotation precision of revolving platform to be tested.
As before, in the case where only having fisrt feature point 11 and second feature point 12, θ1=arctan (y21-y11)/
(x21-x11), θ2=arctan (y22-y12)/(x22-x12)。
And include fixed part and extension in revolving platform to be tested, fisrt feature point 11 is mounted on fixed part, the second spy
It further include the third feature point 13 that fixed part and extension delivery position are set in the case that sign point 12 is mounted on extension；
Coordinate of the third feature point 13 in the first image is (x31,y31), the coordinate in the second image is (x32,y32)；
Computing unit obtains first party parallactic angle θ according to following methods1：Obtain (x'21,y'21), wherein x'21=x31+(x21-
x31)/sinα1, y'21=y31+(y21-y31)/sinα1, α1Pitch angle of the extension relative to fixed part when for the first moment；Root
According to (x'21,y'21) and (x11,y11) determine first party parallactic angle θ1, θ1=arctan (y'21-y11)/(x'21-x11)；
Computing unit obtains first party parallactic angle θ according to following methods2：Obtain (x'22,y'22), wherein x'22=x32+(x22-
x32)/sinα2, y'22=y32+(y22-y32)/sinα2, α2Pitch angle of the extension relative to fixed part when for the second moment；Root
According to (x'22,y'22) and (x12,y12) determine second party parallactic angle θ2, θ2=arctan (y'22-y12)/(x'22-x12)。
It should be noted that the acquisition precision for the image collecting device 14 that above embodiments provide should reach corresponding accurate
Degree guarantees the precision that position coordinates determine, then guarantees that subsequent angle seeks the precision of calculation.
More than, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (8)
1. a kind of rotating accuracy measurement method, it is characterised in that：
It is shot on revolving platform to be tested using the image collecting device (14) that optical axis is parallel to revolving platform rotation axis to be tested
Region comprising fisrt feature point (11) and second feature point (12)；
Wherein the fisrt feature point (11) and second feature point (12) position are not overlapped；The method includes：
Revolving platform to be tested is shot at the first moment and forms the first image, is shot revolving platform to be tested at the second moment and is formed
Second image；
The fisrt feature point (11) is extracted in the coordinate (x of the first image11,y11) and coordinate (x in the second image12,
y12), and the second feature point (12) is extracted in the coordinate (x of the first image21,y21) and coordinate in the second image
(x22,y22)；
According to (x11,y11) and (x21,y21) determine first party parallactic angle θ1；According to (x12,y12) and (x22,y22) determine second party parallactic angle
θ2, the first party parallactic angle θ1With the second party parallactic angle θ2Angle theta=θ2-θ1；
Compare the driving angle size in the angle theta and driving instruction, turning for revolving platform to be tested is determined according to comparison result
Dynamic precision.
2. rotating accuracy measurement method according to claim 1, it is characterised in that：
θ1=arctan (y21-y11)/(x21-x11), θ2=arctan (y22-y12)/(x22-x12)。
3. rotating accuracy measurement method according to claim 1, it is characterised in that：
Revolving platform to be tested includes fixed part and can do the extension of pitching motion relative to the fixed part；
The fisrt feature point (11) is mounted on the fixing part；The second feature point (12) is mounted on the extension
On.
4. rotating accuracy measurement method according to claim 3, which is characterized in that the fisrt feature point (11) and described
The line of second feature point (12) without revolving platform to be tested rotation axis；Also,
The delivery position of the fixed part and the extension is provided with third feature point (13), the third feature point (13)
Pass through the rotation axis of revolving platform to be tested with the line of the second feature point (12)；The third feature point (13) is first
Coordinate in image is (x31,y31), the coordinate in the second image is (x32,y32)；
The first party parallactic angle θ is obtained according to following methods1：
Obtain (x'21,y'21), wherein x'21=x31+(x21-x31)/sinα1, y'21=y31+(y21-y31)/sinα1, α1It is first
Pitch angle of the extension relative to the fixed part when moment；
According to (x'21,y'21) and (x11,y11) determine first party parallactic angle θ1, θ1=arctan (y'21-y11)/(x'21-x11)；
The second party parallactic angle θ is obtained according to following methods2：
Obtain (x'22,y'22), wherein x'22=x32+(x22-x32)/sinα2, y'22=y32+(y22-y32)/sinα2, α2It is second
Pitch angle of the extension relative to the fixed part when moment；
According to (x'22,y'22) and (x12,y12) determine second party parallactic angle θ2, θ2=arctan (y'22-y12)/(x'22-x12)。
5. a kind of rotating accuracy measuring device, which is characterized in that including：
Fisrt feature point (11) and second feature point (12) on revolving platform to be tested, the fisrt feature point (11) are set
It is not overlapped with the position of the second feature point (12)；
Optical axis is parallel to revolving platform rotation axis to be tested, and can shoot on revolving platform to be tested comprising fisrt feature point
(11) and the image collecting device (14) in second feature point (12) region；
Described image acquisition device (14) shoots revolving platform to be tested at the first moment and forms the first image, claps at the second moment
It takes the photograph revolving platform to be tested and forms the second image；
Coordinate extraction unit (15), for extracting the fisrt feature point (11) in the coordinate (x of the first image11,y11) and
Coordinate (x in two images12,y12), and the second feature point (12) is extracted in the coordinate (x of the first image21,y21) and
Coordinate (x in second image22,y22)；
Angle calcu-lation unit (16), for according to (x11,y11) and (x21,y21) determine first party parallactic angle θ1；According to (x12,y12) and
(x22,y22) determine second party parallactic angle θ2, and calculate the first party parallactic angle θ1With the second party parallactic angle θ2Angle theta=θ2-
θ1；
Precision determination unit, for the driving angle size in the angle theta and driving instruction, according to comparison result determine to
Test the rotation precision of revolving platform.
6. rotating accuracy measuring device according to claim 5, it is characterised in that：
The θ1=arctan (y21-y11)/(x21-x11), θ2=arctan (y22-y12)/(x22-x12)。
7. rotating accuracy measuring device according to claim 5, it is characterised in that：
Revolving platform to be tested includes fixed part and can do the extension of pitching motion relative to the fixed part；
The fisrt feature point (11) is mounted on the fixing part；The second feature point (12) is mounted on the extension
On.
8. rotating accuracy measuring device according to claim 7, it is characterised in that：
The line of the fisrt feature point (11) and second feature point (12) without revolving platform to be tested rotation axis；
It further include the third feature point (13) that the fixed part and the extension delivery position are set, the third feature point
(13) and the line of second feature point (12) pass through revolving platform to be tested rotation axis；The third feature point (13) exists
Coordinate in first image is (x31,y31), the coordinate in the second image is (x32,y32)；
The computing unit obtains the first party parallactic angle θ according to following methods1：
Obtain (x'21,y'21), wherein x'21=x31+(x21-x31)/sinα1, y'21=y31+(y21-y31)/sinα1, α1It is first
Pitch angle of the extension relative to the fixed part when moment；
According to (x'21,y'21) and (x11,y11) determine first party parallactic angle θ1, θ1=arctan (y'21-y11)/(x'21-x11)；
The computing unit obtains the second party parallactic angle θ according to following methods2：
Obtain (x'22,y'22), wherein x'22=x32+(x22-x32)/sinα2, y'22=y32+(y22-y32)/sinα2, α2It is second
Pitch angle of the extension relative to the fixed part when moment；
According to (x'22,y'22) and (x12,y12) determine second party parallactic angle θ2, θ2=arctan (y'22-y12)/(x'22-x12)。
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