CN109737869B - Control method and control system for multi-measurement-station cooperative motion measurement - Google Patents
Control method and control system for multi-measurement-station cooperative motion measurement Download PDFInfo
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Abstract
The invention relates to a control method and a control system for multi-measurement-station cooperative motion measurement, wherein the control method comprises the following steps: adjusting the time interval T from workpiece feeding to a measurement assembly line; controlling a speed V at which the workpiece moves along a measurement line, wherein an optical sensor is correspondingly arranged in each of a plurality of measurement stations on the measurement line; when a workpiece reaches a corresponding measuring station, an optical controller controls to start an optical sensor corresponding to the measuring station and is used for measuring the size of the workpiece; wherein the speed V and the time interval T ensure that there is at most one workpiece in the field of view area in each optical sensor during the circulation of the measurement line. When the incoming material position is unstable, a single optical controller is used for controlling a plurality of optical sensors in a time-sharing mode to achieve multi-station cooperative motion measurement, and the measurement efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of optical measurement, and particularly relates to a control method for multi-measurement-station cooperative motion measurement.
Background
In the optical measurement industry, the following methods are conventional for measurement at multiple measurement stations: firstly, through the action of a feeding mechanism, the uniform and stable distribution of supplied material positions is ensured, then a plurality of optical sensors are arranged on a measurement production line at intervals and driven by the same optical controller to realize multi-station cooperative motion measurement, and the measurement mode has higher requirement on the feeding mechanism; secondly, the position of the supplied materials is unstable, an optical controller drives an optical sensor to realize multi-station cooperative motion measurement, and the measurement mode has high cost; and thirdly, the supplied material position is unstable, the same optical controller is used for driving a plurality of optical sensors, multi-station cooperative static measurement is realized in a one-step-one-stop mode, the measurement beat is slow, and the measurement requirement on a production line is difficult to meet. Aiming at the measurement problem, the invention provides a measurement control method which gives consideration to the unstable feeding state, fast measurement beat and low cost.
Disclosure of Invention
The invention provides a control method and a control system for motion measurement of a multi-measurement-station system, which are used for controlling a plurality of optical sensors in a time-sharing manner by using a single optical controller to realize multi-station coordinated motion measurement when the position of a supplied material is unstable, so that the measurement efficiency is improved.
In order to solve the technical problems, the invention provides the following technical scheme for solving the problems:
a control method for multi-measurement-station cooperative motion measurement is characterized by comprising the following steps: adjusting the time interval T from workpiece feeding to a measurement assembly line; controlling the speed V of the workpiece moving along a measuring production line, wherein each measuring station in a plurality of measuring stations on the measuring production line is correspondingly provided with an optical sensor; when a workpiece reaches a corresponding measuring station, an optical controller controls to start an optical sensor corresponding to the measuring station and is used for measuring the size of the workpiece; wherein the speed V and the time interval T ensure that there is at most one workpiece in the field of view area in each optical sensor during the circulation of the measurement line.
Further, the control method for the multi-measurement-station cooperative motion measurement further comprises a speed calculation step of obtaining the speed V, wherein the speed calculation step comprises the following steps: (1) calculating a movement distance L of the workpiece in a field of view area of the optical sensor; (2) calculating the program running time Ti and the program switching time T0 of each optical sensor for processing the size information; (3) total calculation execution time Tmin =
Where i =1,2, … n, n denotes the number of measuring stations: (4) calculating L/Tmin and making speed V<=L/Tmin。
Further, the control method for the multi-measurement-station coordinated movement measurement further comprises the following steps: the limit value Vmax of the speed V is set such that V < = L/Tmin < = Vmax.
Further, the movement distance L = m × H-W, where m is an empirical coefficient, H is a length of the field of view in the movement direction of the measurement line, and W is a length of the workpiece in the movement direction of the measurement line.
Further, the control method for the multi-measurement station coordinated movement measurement further comprises a time calculation step of obtaining a time interval T: t > = H/V, where H is the length of the field of view region along the direction of motion of the measurement pipeline.
Further, the step of controlling to turn on the optical sensor corresponding to the measuring station comprises: and starting timing after acquiring the induction signals of the workpiece on the measurement assembly line, and controlling and starting the optical sensor on the corresponding measurement station according to timing time when the workpiece flows to each measurement station.
The invention also relates to a control system for realizing the multi-measuring-station cooperative motion measurement, which comprises a measuring main controller and is characterized by also comprising: a plurality of optical sensors for measuring the dimensions of the workpiece at a plurality of measurement stations, respectively; the optical controller is connected with each optical sensor and the measurement main controller, wherein the measurement main controller controls the optical controller to process the dimension measured by each optical sensor in a time-sharing manner; the position sensor is connected with the measurement main controller and used for sensing the workpiece, wherein the measurement main controller controls each optical sensor to work according to timing time after the workpiece is sensed; the feeding mechanism is connected with the measurement main controller and is used for conveying workpieces to the measurement production line; wherein the measurement main controller controls the time interval T of feeding by the feeding mechanism and the moving speed V of the workpiece so that at most one workpiece exists in the visual field area of each optical sensor.
Further, a plurality of the optical sensors are arranged at intervals on the measuring production line and used for measuring sizes of different orientations of the workpiece.
Further, the optical sensor is a CCD industrial camera or a laser sensor.
Further, the feeding mechanism is a conveying belt or a vibration disc.
Compared with the prior art, the invention has the advantages and beneficial effects that: the workpiece moving speed V and the time interval T for workpiece measurement are controlled, so that at most one workpiece is measured in the visual field area of each optical sensor, workpieces can exist on different measurement stations at the same time, and the sizes of the workpieces measured by the optical sensors are processed in a time-sharing mode in the circulation process of a measurement assembly line, so that multi-station coordinated motion measurement on the measurement assembly line is realized, whether the feeding position is stable or not is judged, and the measurement efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments of the present invention or the prior art will be briefly described below, and it is obvious that the drawings described below are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of one embodiment of a method of controlling multi-measurement-station coordinated movement measurement of the present invention;
FIG. 2 is a flow chart of another embodiment of a method of controlling multi-station coordinated movement measurements in accordance with the present invention;
FIG. 3 is a schematic diagram of a control system for multi-measurement-station cooperative motion measurement according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Due to the characteristics of the work on the measurement line 6, the number of workpieces on the whole measurement line 6 is greater than the number of measurement stations, so that the measurement information (such as the size) of the workpieces on the plurality of measurement stations has the requirement of parallel processing, and also has strict requirements on measurement accuracy and measurement beat, and based on this, as shown in fig. 1, the embodiment relates to a control method for multi-measurement-station cooperative motion measurement, which comprises the following steps: adjusting the time interval T from workpiece feeding to the measuring production line 6; controlling the speed V of the workpiece moving along the measuring production line 6, wherein each measuring station in a plurality of measuring stations on the measuring production line 6 is correspondingly provided with an optical sensor; when the workpiece reaches the corresponding measuring station, the optical controller 2 controls to start the optical sensor corresponding to the measuring station and is used for measuring the size of the workpiece; wherein the speed V and the time interval T ensure that at most one workpiece is present in the field of view of each optical sensor during the circulation of the measuring line 6.
Specifically, the workpiece is fed to a measuring line 6 (e.g., a rotary table) through a feeding mechanism 5 (e.g., a conveyor belt, a vibration plate) controlled by the main measuring controller 1, and is used for conveying the workpiece between measuring stations, and after the workpiece is measured at each measuring station, the workpiece is output through a blanking mechanism (e.g., a blanking BIN system), and a plurality of measuring stations are arranged on the measuring line 6, and the workpiece is subjected to size measurement at the corresponding measuring stations. The following factors are considered: (1) the feeding time interval of the feeding mechanism 5 is unstable, the feeding position in motion is uncertain, and no secondary positioning processing exists on the measurement production line; (2) the measurement assembly line is in continuous circulation, and the circulation speed needs to consider the performance limit of the optical sensor and the measurement beat requirement; (3) the scheme of a single optical controller 2 is adopted, so that the cost of the controller is saved; (4) the control of the plurality of optical sensors 4 requires time-sharing processing by switching program branches, limited by the characteristics of the optical controller 2 itself; (5) the program run time and the program switch time of the optical controller 2 depend on the performance of the optical controller 2 and the complexity of the measurement program; (6) the measurement system has strict requirements on the measurement precision of the workpiece, the stability of the measurement system and the measurement beat, and in the embodiment, a single optical controller 2 is used for processing the sizes measured at a plurality of measurement stations in the measurement assembly line 6 in a time-sharing manner.
As shown in fig. 1 and fig. 3, the incoming time Tk (k represents the number of workpieces) is different between the workpieces due to the unstable incoming material, but in this embodiment, the time interval T between the feeding mechanism 5 feeding to the measuring line 6 needs to be adjusted, and the moving speed V of the workpieces is controlled after the workpieces are conveyed onto the measuring line 6, a plurality of measuring stations are arranged on the measuring line 6, in this embodiment, three measuring stations are arranged, and each measuring station is correspondingly provided with one optical sensor 41-43, and the speed V and the time interval T ensure that there is at most one workpiece in the visual field area of each optical sensor 41-43 during the rotation of the measuring line 6, but the workpieces can exist at the same time on different measuring stations; and under the restriction of the time interval T and the speed V of the workpiece, when the workpiece is positioned at the corresponding measuring station, controlling to start the optical sensor 4 corresponding to the measuring station for measuring the size of the workpiece. The optical sensor 4 may be a CCD industrial camera or a laser sensor, and the optical sensor 4 is a CCD industrial camera in this embodiment.
Specifically, according to the visual field area of the optical sensor 4 and the movement direction of the measurement pipeline 6, the visual field area is H × D, the length H is consistent with the movement direction, the width D is perpendicular to the movement direction, the length of the workpiece along the movement direction is recorded as W, and the movement distance of the workpiece in the visual field area is calculated as L: l = m H-W, where m is an empirical adjustment value and is related to the speed V of the workpiece and the performance (e.g. exposure time) of the optical sensor 4. Assuming that the number of measurement stations arranged in accordance with the optical sensor 4 is n and one measurement station is provided with one or more optical sensors, in the present embodiment, as shown in fig. 3, three optical sensors 41 to 43 are arranged for the three measurement stations, and the program execution time for the optical sensors 41 to 43 at the respective measurement stations to photograph the workpiece and process the size information is Ti (i =1 to n) and the program switching time T0. Calculating the total time Tmin =
(ii) a (4) Calculation speed L/Tmin = (m × H-W)/(
) And a speed V at which the workpiece is moved<= L/Tmin; in practical applications, in order to meet the measurement accuracy requirements, and in conjunction with the performance parameters of the optical sensor 4 (e.g., the exposure time of the CCD), a limit Vmax of the moving speed V of the workpiece is defined such that V<=L/Tmin<= Vmax, i.e. V<=L/Tmin=（m*H-W）/（
）<And the Vmax is avoided, so that the influence on the measurement precision caused by the smear generated when the workpiece moves at an excessively high speed V is avoided. In order to ensure proper measurement at each measurement station, the minimum workpiece spacing is the length H of the field of view, and V T is set>H, i.e. T>=H*（
) Where the incoming material is unstable, the incoming material time interval and incoming material position are indefinite, and the actual beat of the feeding (i.e., the measurement time interval) is determined by the beat of the feeding mechanism, and an appropriate beat is determined by deriving, for example, the amplitude, frequency, frictional resistance, etc., of the feeding mechanism 5 (i.e., the vibration disk) of the present embodiment so that the actual beat matches (e.g., is close to or the same as) T. In actual measurement control, it is always necessary to ensure V<=L/Tmin=（m*H-W）/（
）<= Vmax, and T>=H*（
) And v (m H-W), controlling T to be as small as possible on the premise of meeting the measurement accuracy so as to realize fast beat measurement.
In order to enable the corresponding optical sensors 41-43 to be activated when the workpieces are transferred to the measuring station, as shown in fig. 3, in the present embodiment, a position sensor 3 is provided in front of all the optical sensors 4 (i.e. in the direction in which the workpieces are conveyed in the direction of movement of the measuring line 6) for workpiece in-place timing, and the position sensor 3 serves as a timing zero point for each workpiece. In the embodiment, the distance between the optical sensor 41 and the position sensor 3 is constant, and the distance between two adjacent optical sensors 41-43 is also constant, so that when the speed V of the workpiece moving is constant, the time from the position sensor 3 to the optical sensor 41, the time from the optical sensor 41 to the optical sensor 42, and the time from the optical sensor 42 to the optical sensor 43 of the workpiece are also constant, the measurement main controller 1 starts timing when the workpiece is sensed by the position sensor 3, and can determine which measurement station corresponding to the optical sensor 41-43 the workpiece has arrived at according to the timing time, so as to start the optical sensor to measure the size of the workpiece. The measurement master controller 1 has a plurality of parallel timing programs for a plurality of workpieces on the measurement line 6, each timing program for one workpiece.
As shown in fig. 3, the present invention also relates to a control system for realizing multi-measuring-station cooperative motion measurement, which comprises a main measuring controller 1, a plurality of optical sensors 4 for measuring the size of the workpiece at a plurality of measuring stations respectively; the optical controller 2 is connected with the optical sensors 41-43 and the measurement main controller 1, and the optical controller 2 processes the size information collected by the optical sensors 41-43 in a time-sharing manner; the position sensor 3 is connected with the main measurement controller 1 and used for sensing the workpiece, wherein the main measurement controller 1 controls the optical sensors 41-43 to work according to timing time after the workpiece is sensed; the feeding mechanism 5 is connected with the measurement main controller 1 and is used for conveying the workpieces to the measurement assembly line 6; wherein the measuring master controller 1 controls the time interval T for feeding by the feeding mechanism 3 and the speed V of movement of the workpieces such that there is at most one workpiece in the field of view of each optical sensor 41-43, while workpieces can be present at the same time at different measuring stations. The control process of the specific control system is described above, and is not described herein.
In this embodiment, in order to implement dimension measurement of each orientation of the workpiece, the optical sensors 41-43 are disposed on the measurement line 6 at intervals to form three measurement stations, in the first measurement station, the optical sensor 41 may be disposed above the workpiece for measuring the dimension above the workpiece, in the second measurement station, the optical sensor 42 may be disposed at the side of the workpiece for measuring the dimension in the lateral direction of the workpiece, in the third measurement station, the optical sensor 43 may be disposed below the workpiece for measuring the dimension below the workpiece, and of course, more optical sensors may be disposed, which is not described herein again.
According to the control method and the control system for multi-measuring-station cooperative motion measurement, the maximum measurement of one workpiece in the visual field area of each optical sensor 41-43 is ensured by controlling the moving speed V of the workpiece and the time interval T of workpiece measurement, workpieces can exist on different measuring stations at the same time, and the sizes of the workpieces measured by the optical sensors 41-43 are processed in a time-sharing manner in the circulation process of the measuring assembly line, so that multi-station cooperative motion measurement on the measuring assembly line 6 is realized, and the measuring efficiency is improved regardless of whether the incoming position is stable or not; the single optical controller 1 processes a plurality of measurement information in a time-sharing manner, so that the controller cost is saved, and the asset investment is reduced.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A control method for multi-measurement-station cooperative motion measurement is characterized by comprising the following steps:
adjusting the time interval T from workpiece feeding to a continuously circulating measurement assembly line;
controlling the speed V of the workpiece moving along a measuring production line, wherein each measuring station in a plurality of measuring stations on the measuring production line is correspondingly provided with an optical sensor;
when a workpiece reaches a corresponding measuring station, an optical controller controls to start an optical sensor corresponding to the measuring station and is used for measuring the size of the workpiece;
wherein during said measuring line circulation, the speed V and the time interval T ensure that there is at most one workpiece in the field of view area in each optical sensor;
wherein the velocity V is calculated by: (1) calculating a movement distance L of the workpiece in a field of view area of the optical sensor; (2) calculating the program running time Ti and the program switching time T0 of each optical sensor for processing the size information; (3) total calculation execution time Tmin =
Where i =1,2, … n, n denotes the number of measuring stations: (4) calculating L/Tmin and making speed V<=L/Tmin。
2. The method for controlling multi-measurement-station cooperative motion measurement according to claim 1, further comprising the steps of: the limit value Vmax of the speed V is set such that V < = L/Tmin < = Vmax.
3. The method of claim 1 or 2, wherein the movement distance L = m x H-W, where m is an empirical coefficient, H is a length of the field of view along the direction of movement of the measurement line, and W is a length of the workpiece along the direction of movement of the measurement line.
4. The method for controlling the multi-measuring-station cooperative movement measurement according to claim 1 or 2, further comprising a time calculation step of obtaining a time interval T: t > = H/V, where H is the length of the field of view region along the direction of motion of the measurement pipeline.
5. The method for controlling the cooperative movement measurement of the multiple measurement stations according to claim 1 or 2, wherein the step of controlling to turn on the optical sensor corresponding to the measurement station comprises the following steps: and starting timing after acquiring the induction signals of the workpiece on the measurement assembly line, and controlling and starting the optical sensor on the corresponding measurement station according to timing time when the workpiece flows to each measurement station.
6. A control system for controlling and realizing multi-measuring-station cooperative motion measurement by using the control method according to any one of claims 1 to 5, the control system comprising a main measuring controller, and further comprising:
a plurality of optical sensors for measuring the dimensions of the workpiece at a plurality of measurement stations, respectively;
the optical controller is connected with each optical sensor and the measurement main controller, wherein the measurement main controller controls the optical controller to process the dimension measured by each optical sensor in a time-sharing manner;
the position sensor is connected with the measurement main controller and used for sensing the workpiece, wherein the measurement main controller controls each optical sensor to work according to timing time after the workpiece is sensed;
the feeding mechanism is connected with the measurement main controller and is used for conveying workpieces to the measurement production line;
wherein the measurement main controller controls the time interval T of feeding by the feeding mechanism and the speed V of moving the workpieces, so that at most one workpiece exists in the visual field area of each optical sensor.
7. The control system of claim 6, wherein a plurality of said optical sensors are spaced apart on said measurement line for measuring different azimuthal dimensions of a workpiece.
8. The control system according to claim 6 or 7, wherein the optical sensor is a CCD industrial camera or a laser sensor.
9. The control system of claim 6 or 7, wherein the feeding mechanism is a conveyor belt or a vibrating pan.
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