CN109781002A - A kind of lathe holoaxial journey accurate positioning method based on machine vision - Google Patents
A kind of lathe holoaxial journey accurate positioning method based on machine vision Download PDFInfo
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- CN109781002A CN109781002A CN201910099349.8A CN201910099349A CN109781002A CN 109781002 A CN109781002 A CN 109781002A CN 201910099349 A CN201910099349 A CN 201910099349A CN 109781002 A CN109781002 A CN 109781002A
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Abstract
The present invention provides a kind of lathe holoaxial journey accurate positioning method based on machine vision, is related to controlling to adjust technical field.Industrial camera optical axis is demarcated as P with laser interferometer with scaling board intersection location X, it is stored in processor, industrial camera shoots the image and transmission processor of intersection location X and its adjacent calibration hole M, and processor calculates adjacent calibration hole M image coordinate by calibration value P and stores；Movable workbench, industrial camera shooting, intersection location T after mobile of industrial camera optical axis and scaling board and its adjacent calibration hole N image information are transferred to processor, adjacent calibration hole M image coordinate of the processor by storage, the coordinate of the intersection location T after calculating movement.The present invention solves the problems, such as to be accurately positioned when cannot achieve in the prior art to the work of numerically-controlled machine tool larger holoaxial journey.The invention has the following beneficial effects: realizing the accurate positioning of lathe holoaxial journey, positioning accuracy is up to micron order.As long as a laser interferometer calibration, use cost are low.
Description
Technical field
The present invention relates to technical field is controlled to adjust, more particularly, to a kind of pair of numerically-controlled machine tool holoaxial journey precision in use
The method of positioning.
Background technique
Numerically-controlled machine tool is a kind of process equipment based on numerical control, and workbench instructs on guide rail repeatedly according to digital process
Mobile operation.Required precision when work of numerical control machine is very high, generally reaches micron order.Due to be used for a long time, caused by system
Error, especially digital control system and mechanical transmission errors will affect workpiece precision.Current solution is timing to numerical control
Machine tool calibration.Calibration method mainly has active calibration and two kinds of passive alignment.Passive alignment refers to that the product of production and processing is placed on three
On the instruments such as coordinate measuring machine, when detecting that error is larger, that is, processing component is problematic.There is lag in this method
Property waits when finding the problem, and some parts are all scrapped, and must be re-worked, and cause to waste.Active calibration refers to dry using double-frequency laser
Interferometer, using laser real-time wavelength as measuring basis, determines error by laser reflection using laser interferometry principle.This
The calibration of kind of method is not only at high cost, and two-frequency laser interferometer can not be arranged in always on lathe and use at any time.With meter
The high speed development of calculation machine system and image processing techniques, the image measurement technology for being now based on machine vision are widely used in work
In the multiple fields of industry manufacture.Chinese patent application publication No. CN104669065A, data of publication of application on June 3rd, 2015, title
For the patent application file of " diamond cutter detects in place and localization method ", one such technical solution is disclosed.Method
Include the following steps: a) to be fixedly mounted on machine tool chief axis imaging system, the relative position of machine tool chief axis and lathe X kinematic axis
It is fixed；B) positioning of diamond cutter short transverse is realized using the depth of field of imaging system；C) it after the completion of short transverse positioning, adjusts
Light-source brightness and diamond cutter horizontal position are saved to obtain the tool image of complete display；D) according to the difference of tool type,
The different geometric parameter of cutter is measured respectively using above-mentioned optical imagery；E) cutter positioning reference point is obtained in optical imagery coordinate
Coordinate in system；F) cutter positioning reference point coordinate is converted to the coordinate in lathe coordinate system, realizes that diamond cutter exists
Positioning in machine tool horizontal face.In general, image measurement precision is higher, the work visual field is smaller.The cutter mobility scale of this method is small,
The localization method of process tool common-denominator target, it is difficult to realize the pinpoint function in the work of larger holoaxial journey.
Summary of the invention
In order to which technology pinpoint when solving to cannot achieve in the prior art to the work of numerically-controlled machine tool larger holoaxial journey is asked
Topic, the present invention provide a kind of lathe holoaxial journey accurate positioning method based on machine vision, realize the larger axis holoaxial of numerically-controlled machine tool
The accurate measurement and positioning of journey, positioning accuracy meet actual industrial manufacture demand up to micron order.
The technical scheme is that a kind of lathe holoaxial journey accurate positioning method based on machine vision, including guide rail,
With workbench, laser interferometer, the processor of guide rail mobile connection, worktable upper surface is connected with scaling board, scaling board top
Several industrial cameras are connected with, it is dry with laser that scaling board is equipped with several calibration holes, industrial camera optical axis and scaling board intersection location X
Interferometer calibration, calibration value P are stored in processor, and industrial camera shoots the adjacent calibration of intersection location X and intersection location X
The image of hole M is simultaneously transferred to processor, and processor calculates adjacent calibration hole M image coordinate by calibration value P and is stored in place
Manage device；Workbench moves on guide rail, and industrial camera shoots scaling board, by the intersection of industrial camera optical axis and scaling board after mobile
The adjacent calibration hole N image information of intersection location T after position T and the movement is transferred to processor, and processor passes through storage
Adjacent calibration hole M image coordinate, the coordinate of the intersection location T after calculating movement.A laser interferometer calibration is only needed, it
After position from industrial camera and scaling board cooperation completion, easy to operate, use cost is low.
Preferably, calibration hole is circular hole, arrangement in a row, spaced position trueness error≤1 μm, the calibration hole central axes
Line and guide rail axis parallel；Positioning accuracy is high.
Preferably, the axis parallel of the optical axis of industrial camera and calibration hole.
Preferably, processor first determines the pixel difference between the intersection location T after movement and adjacent calibration hole M, then
Calculate relative distance.
Preferably, industrial camera is equipped with telecentric lens, the distance of telecentric lens end to scaling board and telecentric lens
Object distance is equal；Eliminating influences caused by angle offset, improves pixel detection precision.
Preferably, workbench is connected with lateral camera, the visual field of lateral camera is calibration holes all on scaling board and institute
There are the telecentric lens of industrial camera；Facilitate the industrial camera for confirming work and corresponding calibration hole.
Compared with prior art, the beneficial effects of the present invention are: realizing the accurate positioning of lathe holoaxial journey, positioning accuracy can
Up to micron order, meet actual industrial manufacture demand.A laser interferometer calibration is only needed, easy to operate, use cost is low.And
And real time calibration ability in process may be implemented.
Detailed description of the invention
Attached drawing 1 is flow chart of the present invention；
Attached drawing 2 is connection schematic diagram of the present invention；
Attached drawing 3 is the top view of Fig. 2；
Attached drawing 4 illustrates schematic diagram with the calibration of corresponding calibration hole for industrial camera；
Attached drawing 5 illustrates schematic diagram with corresponding calibration hole calibrated and calculated for industrial camera；
Attached drawing 6 is to position schematic diagram with corresponding calibration hole by industrial camera.
In figure: 1- guide rail；2- workbench；The side 3- is to camera；4- scaling board；5- bracket；6- light source；7- industrial camera；21-
Side arm.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment 1:
As shown in figures 1 to 6, a kind of lathe holoaxial journey accurate positioning method based on machine vision, including guide rail 1 and guide rail 1 move
The workbench 2 of dynamic connection, laser interferometer, processor.Guide rail 1, workbench 2 are what lathe was had by oneself.1 length extending direction of guide rail
It is consistent with machine spindle length extending direction.The positioning of holoaxial journey refers to the location requirement met in machine tool guideway maximum functional distance.Swash
Optical interferometer is two-frequency laser interferometer.
2 upper surface of workbench is connected with scaling board 4.Scaling board 4 is long strip shape.In order not to cause essence vulnerable to thermal deformation
Error is spent, scaling board 4 is the nonmetal structures such as ceramics.Scaling board 4 is equipped with several calibration holes.Calibration hole is circular hole.Calibration hole is
Circular pattern or circular pit of the laser printing to 4 upper surface of scaling board.Demarcate hole arrangement in a row.One piece of scaling board 4 is equipped with more
The parallel calibration hole of row.Calibration bore dia on same scaling board 4 is equal.Same rower determines pitch of holes position precision error
≤1μm.Demarcate hole central axes line and 1 axis parallel of guide rail.
Several industrial cameras 7 are connected with above scaling board 4.4 top of scaling board, lathe are equipped with bracket 5.Bracket 5 is strip
Shape.5 length extending direction of bracket is consistent with 1 length extending direction of guide rail.5 lower surface of bracket is connected with light source 6.Light source 6 is in item
Shape is equipped with brightness regulation control switch.Bracket 5 connects industrial camera 7.Industrial camera 7 is arranged along 5 length extending direction of bracket, one word
It opens.7 spacing of industrial camera can be different, but spacing cannot be greater than the length of scaling board 4, guarantee mobile work platform 2 in effective axis
There is at least one industrial camera 7 that can observe the more than one calibration hole on scaling board 4 when journey any position.Industrial camera
7 are equipped with telecentric lens.Telecentric lens end is equal to the distance of scaling board 4 and the object distance of telecentric lens.That is, guaranteeing industrial camera
The image enlargement ratio of 7 shootings will not change, undistorted.The optical axis of industrial camera 7 and the axis parallel in calibration hole.To industry
7 indicia of camera, industrial camera 7 as Figure 4-Figure 6 are labeled as W.
Workbench 2 is connected with lateral camera 3.One side of workbench 2 is connected with the side arm 21 of protrusion.Lateral camera 3
It is fixed with 21 upper surface of side arm.The camera lens of lateral camera 3 is towards scaling board 4.The visual field of lateral camera 3 is to own on scaling board 4
Demarcate the telecentric lens of the industrial camera 7 of 4 top of hole and scaling board.
Initially, the calibration hole of scaling board 4 is demarcated.Laser interferometer is placed on 1 one end of guide rail.By laser interferometer
Numerical value zero setting.Mobile work platform 2 arrives some position, stops.Lateral camera 3 takes the industrial camera and scaling board 4 of label W
Calibration hole.The industrial camera optical axis of label W intersects with scaling board 4, intersection location X.If the adjacent mark in the left side intersection location X
Determining the calibration hole that hole is calibration hole M, the right is adjacent is that calibration hole M+1(is as shown in Figure 4).Intersection location X laser interferometer mark
It is fixed.Proving operation mode meets " GB/T 17421.1-1998 lathe inspection general rule part 1: in zero load or finishing item
The geometric accuracy of lathe under part ".It is P that laser interferometer, which reads calibration value, is stored in processor.Calibration value P be intersection location X extremely
The distance of laser interferometer opposite rail zero setting.
Industrial camera 7 shoots the image of the adjacent calibration hole M of intersection location X and intersection location X and is transferred to processor.
Mark the industrial camera shooting image of W as shown in 4 dotted line frame.If guide rail zero setting is L to hole M centre point distance is demarcatedM, arrive
Intersection location X distance is LX.It is converted into actual range difference Q(X-M)=(LX-LM) * R, R indicates the actual range that 1 pixel represents, unit
mm/pixel。
Processor calculates adjacent calibration hole M image coordinate by calibration value P and is stored in processor.First calculate calibration ginseng
Examine value SM。SMCalibration hole M is represented when being in intersection location X, the numerical value that laser interferometer should be shown.This reference value is not necessarily to
Traverse measurement, since changing coordinates estimated value meets P/=SM+Q(X-M)+ d, wherein P/Directly from laser interferometer readings.D indicates system
System error.Since the factors such as temperature and humidity variation, vibration and quantization cause, in the case where workbench 2 does not continue to move to, d is one
A fixed value.Therefore, it to allow d to participate in operation less to reduce error as far as possible, allow system-computed value P/With laser interferometer indicating value P
It is equal.Therefore, when calculating by SMIt is set as zero, obtains system-computed value P0=Q(X-M)+d.Then, P-P0Exactly demarcate hole M is
Unite reference value SM, unit mm.As shown in figure 5, dotted line frame indicates that the industrial camera of label W shoots image in figure.
It repeats above operation, all industrial cameras 7 is demarcated within the scope of 1 holoaxial journey of guide rail with scaling board 4, realize
Each industrial camera 7 obtains the reference value in any calibration hole of a correspondence on scaling board 4.Store data in processor
In.Remove laser interferometer.
In use, workbench 2 is mobile on guide rail 1 to arrive any position, at this time lateral camera 3 shoot image as shown in fig. 6,
The industrial camera of label W takes the photograph image as shown in 6 dotted line frame.Observe that the industrial camera to work is in lateral camera 3
The industrial camera of W is marked, corresponding calibration hole M sets reference value S beforeM, mark the industrial camera of W and the intersection of scaling board 4
Position is T, and T-phase neighbour demarcates industrial camera of the hole N not with label W and sets reference value.It will mark captured by the industrial camera of W
Image information is transferred to processor.Processor first determines the pixel difference between the intersection location T after movement and adjacent calibration hole M.
The industrial camera of label W is working.Intersection location T coordinate P can be estimatedT 。PT=SM+DM+Q(T-N)*R.Wherein DMIt indicates
The distance between calibration hole N and calibration hole M that lateral camera 3 is found, and meet DM=(N-M) * Ds, DsIndicate two calibration Kong Yuan
Fixed range between the heart, unit mm.Q(M-T)Indicate the calibration center of circle hole M found when intersection location T coordinate with intersection location T's
Pixel distance, unit pixel.Wherein (N-M) indicates the number difference between two calibration holes, DsIndicate two adjacent calibration holes
Fixed range between the center of circle.R indicates the actual range that 1 pixel represents in image, unit mm/pixel.Pass through the phase of storage
Neighbour's calibration hole M image coordinate, the coordinate of the intersection location T after movement calculate relative distance.
Claims (6)
1. a kind of lathe holoaxial journey accurate positioning method based on machine vision, including guide rail (1) and guide rail (1) mobile connection
Workbench (2), laser interferometer, processor, it is characterised in that: workbench (2) upper surface is connected with scaling board (4),
It is connected with several industrial cameras (7) above scaling board (4), the scaling board (4) is equipped with several calibration holes, the industrial camera
(7) optical axis is demarcated with scaling board (4) intersection location X with laser interferometer, and calibration value P is stored in processor, industrial camera
(7) it shoots the image of the adjacent calibration hole M of intersection location X and intersection location X and is transferred to processor, processor passes through calibration
Value P calculates adjacent calibration hole M image coordinate and is stored in processor；The workbench (2) is moved on guide rail (1), industry
Camera (7) shoots scaling board (4), after the intersection location T and the movement after industrial camera (7) optical axis and scaling board (4) are moved
The adjacent calibration hole N image information of intersection location T be transferred to processor, the adjacent calibration hole M image that processor passes through storage
Coordinate, the coordinate of the intersection location T after calculating movement.
2. a kind of lathe holoaxial journey accurate positioning method based on machine vision according to claim 1, it is characterised in that:
The calibration hole is circular hole, arrangement in a row, spaced position trueness error≤1 μm, the calibration hole central axes line and guide rail (1)
Axis parallel.
3. a kind of lathe holoaxial journey accurate positioning method based on machine vision according to claim 1 or 2, feature exist
In: the optical axis of industrial camera (7) and the axis parallel in calibration hole.
4. a kind of lathe holoaxial journey accurate positioning method based on machine vision according to claim 1, it is characterised in that:
The processor first determine it is mobile after intersection location T and adjacent calibration hole M between pixel difference, then calculate it is opposite away from
From.
5. a kind of lathe holoaxial journey accurate positioning method based on machine vision according to claim 1, it is characterised in that:
The industrial camera (7) is equipped with telecentric lens, the distance and the object distance phase of telecentric lens of telecentric lens end to scaling board (4)
Deng.
6. a kind of lathe holoaxial journey accurate positioning method based on machine vision described according to claim 1 or 2 or 5, special
Sign is: workbench (2) is connected with lateral camera (3), the visual field of lateral camera (3) be on scaling board (4) all calibration holes and
The telecentric lens of all industrial cameras (7).
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| CN114252012A (en) * | 2021-12-22 | 2022-03-29 | 上海原能细胞生物低温设备有限公司 | Method for acquiring hole site of cryopreservation box |
| CN114346759A (en) * | 2022-03-10 | 2022-04-15 | 成都飞机工业（集团）有限责任公司 | Device for hole online detection and hole finish machining and machining method thereof |
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| CN114252012B (en) * | 2021-12-22 | 2024-01-16 | 上海原能细胞生物低温设备有限公司 | Method for acquiring hole site of cryopreservation box |
| CN114346759A (en) * | 2022-03-10 | 2022-04-15 | 成都飞机工业（集团）有限责任公司 | Device for hole online detection and hole finish machining and machining method thereof |
| CN114346759B (en) * | 2022-03-10 | 2022-07-15 | 成都飞机工业（集团）有限责任公司 | Device for hole online detection and hole finish machining and machining method thereof |
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