CN109146956A - A kind of linearity error correction factor acquisition methods of vision positioning system - Google Patents
A kind of linearity error correction factor acquisition methods of vision positioning system Download PDFInfo
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Abstract
The invention discloses a kind of linearity error correction factor acquisition methods of vision positioning system, successively include: step 1: one target of driving moves in a circle along a unit circle, and then the vision positioning system is using the center of circle of the unit circle as its coordinate origin；Step 2: vision positioning system carries out one-shot measurement to the target of movement, obtains the measurement coordinate (X of target at this time0,Y0)；Step 3: by X0And Y0Substitute into formula Y1=[(1-X0 2)1/2+Y0In]/2, Y is calculated1；Then by Y0And Y1Substitute into formula K1=Y1/Y0In, K is calculated1, last K1And X0Substitute into formula X1=K1*X0In, X is calculated1；Step 4: by X1And Y1Substitute into formula Yi+1=[(1-Xi 2)1/2+Yi]/2、Ki+1=Yi+1/YiAnd Xi+1=Ki+1*XiIn be iterated；Work as Yi+1With YiBetween difference be less than threshold value when, stop iteration；Then by Y1Coordinate Y is corrected with last time Y-axisi+1Substitute into formula K=Yi+1/Y0In, the linearity error adjusted coefficient K of the vision positioning system is calculated.The linearity error correction factor of the available vision positioning system of the present invention.
Description
Technical field
The present invention relates to vision positioning system, the linearity error correction factor for particularly relating to a kind of vision positioning system is obtained
Method.
Background technique
Vision positioning system images a characteristic point on object by multiple CCD cameras, to obtain the point respectively each
A camera is as the coordinate in plane, only it is to be understood that the accurate relative position of each camera, so that it may obtain the spy with the method for geometry
Coordinate of the sign point in the coordinate system for fixing a camera, that is, determined the position of characteristic point.
The structural parameters of CCD camera are directly related to Image Acquisition and detection accuracy, these parameters are divided into inner parameter again
And external parameter, vision positioning system need to carry out equipment calibration before the use, solve their inner parameter and outside ginseng
Number, to obtain the quantitative relationship between space characteristics space of points position and the coordinate of two dimensional image corresponding points.But vision positioning
System is likely to occur coefficient calibration result during the calibration process deviation, and this phenomenon will lead to the measurement coordinate value calculated
There is linearity error, causes to measure coordinate value and actual coordinate value is the relationship that equal proportion zooms in or out.Meanwhile it if using
Environment and calibration environmental difference are larger, and causing the actual size factor with calibration result, there is any discrepancy, also will appear measurement coordinate value and go out
Existing linearity error.In addition, the problem of due to automatic focusing response, when space characteristics dynamic operation, focusing lag causes to be imaged
Less effective, imaging size change, and also will appear measurement coordinate value and linearity error occur.Therefore existing vision positioning system
There are a linearity errors with actual coordinate value for the measurement coordinate value of system output, it is therefore desirable to which a linearity error correction factor comes
Measurement coordinate value is modified.
Summary of the invention
The purpose of the present invention is to provide a kind of linearity error correction factor acquisition methods of vision positioning system, by this
The measurement coordinate of vision positioning system has been repaired since the linearity error correction factor of the available vision positioning system of method
Just.
In order to achieve the above objectives, solution of the invention is:
A kind of linearity error correction factor acquisition methods of vision positioning system successively include:
Step 1: one target of driving moves in a circle along a unit circle, and then the vision positioning system is by the circle of the unit circle
The heart is as its coordinate origin；
Step 2: vision positioning system carries out one-shot measurement to the target of movement, obtains the measurement coordinate (X of target at this time0,Y0)；
Step 3: by X0And Y0Substitute into formula Y1=[(1-X0 2)1/2+Y0In]/2, first time Y-axis amendment coordinate Y is calculated1；
Then by Y0And Y1Substitute into formula K1=Y1/Y0In, first time linearity error adjusted coefficient K is calculated1, last K1And X0It substitutes into
Formula X1=K1*X0In, first time X-axis amendment coordinate X is calculated1；
Step 4: by X1And Y1Substitute into formula Yi+1=[(1-Xi 2)1/2+Yi]/2、Ki+1=Yi+1/YiAnd Xi+1=Ki+1*XiIn change
In generation, wherein i is the positive integer greater than 0, YiCoordinate, X are corrected for i-th Y-axisiCoordinate, Y are corrected for i-th X-axisi+1For i+1 time
Y-axis corrects coordinate, Xi+1Coordinate is corrected for i+1 time X-axis；Work as Yi+1With YiBetween difference be less than threshold value when, stop iteration；So
Afterwards by Y1Coordinate Y is corrected with last time Y-axisi+1Substitute into formula K=Yi+1/Y0In, the vision positioning system is calculated
Linearity error adjusted coefficient K.
In the step 1, the vision positioning system is using the center of circle of the unit circle as the method for its coordinate origin
Are as follows: the target stops multiple designated positions on the unit circle, while the vision positioning system is to resting on specific bit
The target set carries out static measurement to obtain the three dimensional space coordinate of each designated position, then the vision positioning system according to
The three dimensional space coordinate in the unit circle center of circle, last vision positioning system is calculated in the three dimensional space coordinate of each designated position
System sets the unit circle center location to the coordinate origin of the vision positioning system.
In the step 2, the target is fixed on the gauge head of a three coordinate measuring machine, and the three coordinate measuring machine drives
The target is moved to move in a circle along the unit circle.
In the step 2, the target is fixed on the cutter of a numerically-controlled machine tool, and the numerically-controlled machine tool drives the target
Mark moves in a circle along the unit circle.
The threshold value is one thousandth.
After adopting the above scheme, vision positioning system of the invention carries out one-shot measurement to the target of movement and obtains target
Measurement coordinate (X at this time0, Y0), and since target actual coordinate (X, Y) meets X2+Y2=1, in this way by X0Substitute into X2+Y2In=1
To obtain X0Theoretically it is corresponding in Y axis coordinate y be (1-X0 2)1/2, and since the Y of the actual coordinate of target at this time is between Y0To y
Between, therefore to Y0First time amendment is carried out, first time Y-axis corrects coordinate Y1Just it is equal to { [(1-X0 2)1/2+Y0]/2 }, then just
Available first time adjusted coefficient K1=Y/Y0, then pass through K1To X0The first amendment is carried out, first time X-axis corrects coordinate X1Just
Equal to (K1*X0), it is subsequent by X1And Y1Substitute into formula Yi+1=[(1-Xi 2)1/2+Yi]/2、Ki+1=Yi+1/YiAnd Xi+1=Ki+1*XiIn into
Row iteration, can make Xi+1And Yi+1Respectively constantly close to X and Y；Work as Yi+1With YiBetween difference be less than threshold value when, stop changing
Generation, at this time Xi+1And Yi+1Just very close to X and Y, the linearity error correction factor of the vision positioning system can be obtained at this time
K, K are equal to (Yi+1/Y0) in, by linearity error adjusted coefficient K can the measurement coordinate to vision positioning system be modified,
Wherein X0It is modified to (K*X0), Y0It is modified to (K*Y0).
Detailed description of the invention
Fig. 1 is the coordinate diagram of the measurement coordinate curve and actual coordinate curve of target of the invention.
Specific embodiment
In order to further explain the technical solution of the present invention, being explained in detail below by specific embodiment the present invention
It states.
A kind of linearity error correction factor acquisition methods of vision positioning system of the present invention successively include:
Step 1: one target of driving moves in a circle along a unit circle, and then the vision positioning system is by the circle of the unit circle
The heart is as its coordinate origin；Wherein the vision positioning system is using the center of circle of the unit circle as the method for its coordinate origin
Are as follows: the target stops multiple designated positions on the unit circle, while the vision positioning system is to resting on specific bit
The target set carries out static measurement to obtain the three dimensional space coordinate of each designated position, then the vision positioning system according to
The three dimensional space coordinate in the unit circle center of circle, last vision positioning system is calculated in the three dimensional space coordinate of each designated position
System sets the unit circle center location to the coordinate origin of the vision positioning system；
Step 2: vision positioning system carries out one-shot measurement to the target of movement, obtains the measurement coordinate (X of target at this time0,Y0)；
Wherein the target can be fixed on the gauge head of a three coordinate measuring machine, and the three coordinate measuring machine drives the target along institute
Unit circle is stated to move in a circle；The target can also be fixed on the cutter of a numerically-controlled machine tool, and the numerically-controlled machine tool drives institute
Target is stated to move in a circle along the unit circle；
Step 3: by X0And Y0Substitute into formula Y1=[(1-X0 2)1/2+Y0In]/2, first time Y-axis amendment coordinate Y is calculated1；
Then by Y0And Y1Substitute into formula K1=Y1/Y0In, first time linearity error adjusted coefficient K is calculated1, last K1And X0It substitutes into
Formula X1=K1*X0In, first time X-axis amendment coordinate X is calculated1；
Step 4: by X1And Y1Substitute into formula Yi+1=[(1-Xi 2)1/2+Yi]/2、Ki+1=Yi+1/YiAnd Xi+1=Ki+1*XiIn change
In generation, wherein i is the positive integer greater than 0, YiCoordinate, X are corrected for i-th Y-axisiCoordinate, Y are corrected for i-th X-axisi+1For i+1 time
Y-axis corrects coordinate, Xi+1Coordinate is corrected for i+1 time X-axis；Work as Yi+1With YiBetween difference be less than threshold value when, stop iteration, should
Threshold value can be one thousandth；Then by Y1Coordinate Y is corrected with last time Y-axisi+1Substitute into formula K=Yi+1/Y0In, to calculate
The linearity error adjusted coefficient K of the vision positioning system out.
Cooperate shown in Fig. 1, target actual coordinate (X, Y) meets X2+Y2=1, the amplitude of X-axis measurement coordinate curve A1 is less than
The amplitude of the amplitude of X-axis actual coordinate curve A3, Y-axis measurement coordinate curve A2 is equally less than Y-axis actual coordinate curve A4's
Amplitude；The operation principle of the present invention is that:
As shown in Figure 1, vision positioning system of the invention carries out one-shot measurement to the target of movement and obtains the survey of target at this time
Measure coordinate (X0, Y0), and since target actual coordinate (X, Y) meets X2+Y2=1, in this way by X0Substitute into X2+Y2To obtain X in=10Reason
By it is upper it is corresponding in Y axis coordinate y be (1-X0 2)1/2, and since the Y of the actual coordinate of target at this time is between Y0To between y, therefore
To Y0First time amendment is carried out, first time Y-axis corrects coordinate Y1Just it is equal to { [(1-X0 2)1/2+Y0]/2 }, it then can obtain
Adjusted coefficient K1=Y1/Y0, then pass through K1To X0The first amendment is carried out, first time X-axis corrects coordinate X1Just it is equal to (K1*
X0), it is subsequent by X1And Y1Substitute into formula Yi+1=[(1-Xi 2)1/2+Yi]/2、Ki+1=Yi+1/YiAnd Xi+1=Ki+1*XiIn be iterated, just
It may make Xi+1And Yi+1Respectively constantly close to X and Y；Work as Yi+1With YiBetween difference when being less than threshold value, stop iteration, at this time Xi+1
And Yi+1Just very close to X and Y, the linearity error adjusted coefficient K of the vision positioning system can be obtained at this time, and K is equal to
(Yi+1/Y0), by linearity error adjusted coefficient K can the measurement coordinate to vision positioning system be modified, wherein X0Amendment
For (K*X0), Y0It is modified to (K*Y0).
Above-described embodiment and schema and non-limiting product form and style of the invention, any technical field it is common
The appropriate changes or modifications that technical staff does it all should be regarded as not departing from patent category of the invention.
Claims (5)
1. a kind of linearity error correction factor acquisition methods of vision positioning system, it is characterised in that: successively include:
Step 1: one target of driving moves in a circle along a unit circle, and then the vision positioning system is by the circle of the unit circle
The heart is as its coordinate origin；
Step 2: vision positioning system carries out one-shot measurement to the target of movement, obtains the measurement coordinate (X of target at this time0,Y0)；
Step 3: by X0And Y0Substitute into formula Y1=[(1-X0 2)1/2+Y0In]/2, first time Y-axis amendment coordinate Y is calculated1；So
Afterwards by Y0And Y1Substitute into formula K1=Y1/Y0In, first time linearity error adjusted coefficient K is calculated1, last K1And X0It substitutes into public
Formula X1=K1*X0In, first time X-axis amendment coordinate X is calculated1；
Step 4: by X1And Y1Substitute into formula Yi+1=[(1-Xi 2)1/2+Yi]/2、Ki+1=Yi+1/YiAnd Xi+1=Ki+1*XiIn be iterated,
Wherein i is the positive integer greater than 0, YiCoordinate, X are corrected for i-th Y-axisiCoordinate, Y are corrected for i-th X-axisi+1For i+1 time Y-axis
Correct coordinate, Xi+1Coordinate is corrected for i+1 time X-axis；Work as Yi+1With YiBetween difference be less than threshold value when, stop iteration；Then
By Y1Coordinate Y is corrected with last time Y-axisi+1Substitute into formula K=Yi+1/Y0In, the line of the vision positioning system is calculated
Property Ratio for error modification K.
2. a kind of linearity error correction factor acquisition methods of vision positioning system as described in claim 1, it is characterised in that:
In the step 1, the vision positioning system is using the center of circle of the unit circle as the method for its coordinate origin are as follows:
The target stops multiple designated positions on the unit circle, while the vision positioning system is to resting on specific bit
The target set carries out static measurement to obtain the three dimensional space coordinate of each designated position, then the vision positioning system according to
The three dimensional space coordinate in the unit circle center of circle, last vision positioning system is calculated in the three dimensional space coordinate of each designated position
System sets the unit circle center location to the coordinate origin of the vision positioning system.
3. a kind of linearity error correction factor acquisition methods of vision positioning system as described in claim 1, it is characterised in that:
In the step 2, the target is fixed on the gauge head of a three coordinate measuring machine, and the three coordinate measuring machine drives the target
Mark moves in a circle along the unit circle.
4. a kind of linearity error correction factor acquisition methods of vision positioning system as described in claim 1, it is characterised in that:
In the step 2, the target is fixed on the cutter of a numerically-controlled machine tool, and the numerically-controlled machine tool drives the target described in
Unit circle moves in a circle.
5. a kind of linearity error correction factor acquisition methods of vision positioning system as described in claim 1, it is characterised in that:
The threshold value is one thousandth.
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