CN110645912A - A machine vision panoramic measurement system and measurement method - Google Patents

Abstract

The invention discloses a machine vision panoramic measurement system and measurement method, comprising an upper computer A, a lower computer B, a radial motor driver C, a DC power supply D, an axial motor driver E, and a machine vision measurement slide table F. The machine vision panoramic measurement system is designed from the perspective that the position of the measurement camera is fixed and the measurement platform moves, and a machine vision panoramic measurement system and measurement method are designed. The system can automatically control the measuring slide to drive the workpiece to be clamped under the joint control of the upper and lower computers and according to the measurement needs to complete the axial and radial linear motion and the circular arc motion in the measuring platform, so as to realize the high-precision panoramic scanning of the workpiece. and three-dimensional reconstruction, and equipped with handwheel, which is convenient for manual adjustment in case of failure, and has good adaptability to the working environment; the measuring slide is provided with proximity switch sensors and limit switches, which are used for real-time feedback and locating the running position of the workpiece and abnormal work. self-protection of the device. The machine vision measurement slide table system can clamp multiple workpieces at the same time, and adapt to the task requirements of various vision acquisition methods, including monocular vision measurement, binocular vision measurement and structured light measurement, with strong adaptability and high positioning accuracy. It has high generalizability in the field of machine vision measurement.

Description

A machine vision panoramic measurement system and measurement method

technical field

The invention belongs to the technical field of machine vision measurement, in particular to a machine vision panoramic measurement system and a measurement method.

Background technique

Machine vision measurement technology is to use cameras, proprietary fixtures and other equipment to take dynamic or static shots of the object to be measured to obtain sequence or single-frame images. The application of visual measurement can accurately measure complex structures. In the actual industrial measurement environment, if the surface topography of the workpiece to be measured is complex or multiple workpieces are measured simultaneously, it is difficult for the acquisition camera to obtain the complete topography in a single measurement. Reconstructed imaging. During the measurement process, if the position of the workpiece is fixed, the camera needs to capture images at different positions, and the camera parameters need to be repeatedly calibrated. If the measurement positioning is not accurate, the measurement results are inaccurate and the work efficiency is not high.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a machine vision panoramic measurement system and measurement method, which can fix the position of the acquisition camera, precisely position and control the movement of the carrier platform for clamping multiple workpieces, so as to solve the problem of repeated calibration of the camera in the current visual measurement, low efficiency and low efficiency. The problem of inaccurate measurement and positioning.

For solving the above-mentioned visual measurement problem, the concrete technical scheme of the present invention is as follows:

A machine vision panoramic measurement system and measurement method, comprising an upper computer A, a lower computer B, a radial motor driver C, a DC power supply D, an axial motor driver E, and a machine vision measurement slide F, through the upper computer A and the lower computer B is programmed to control the radial motor driver C and the axial motor driver E to work, and the drive motor drives the object plate 200 to realize linear and circular motion, and completes the measurement task; the radial motor driver C and the axial motor driver E are powered by DC power D supplies power, and receives the command from the lower computer B to drive the motor to rotate; the machine vision measurement slide F is composed of a gantry vision acquisition mechanism 100, a carrier plate 200, an active radial screw nut mechanism 300, a fixed plate 400, and an active axial screw The nut mechanism 500, the driven axial slider mechanism 600 and the driven radial slider mechanism 700 are composed; the image acquisition method of the gantry visual acquisition mechanism 100 can be selected from monocular, binocular or structured light measurement according to the measurement needs; The fixing plate 400 is slotted for positioning and installing the proximity switch sensors 405, 406, 407, 408, 409, 410, the limit switches 401, 402, 403, 404 are fixed on the fixing plate by screw connection, and the linear sliding guide rail 603 It is connected with the fixing plate 400 by screws; the linear sliding guide 603 is used to realize the smooth movement of the slider 502 on the fixing plate 400 in the active axial screw nut mechanism 500, and the active axial screw nut mechanism 500 passes through the support seat 501 The bolts of the fixed seat 505 are connected to the fixed plate 400, and the support seat 501 and the fixed seat 505 are provided with bearings for nesting the lead screw 504. The drive motor 508 is installed on the motor base 507 by screw connection, the motor base 507 is installed on the fixing plate 400 through the screws at the bottom of the fixing plate 400, the rotating shaft at the other end of the driving motor 508 is provided with a hand wheel 509, and the active radial screw nut mechanism 300 is connected in the same way as the active axial screw and nut mechanism 500, and the slider connection mode of the driven axial nut mechanism 600 and the driven radial nut mechanism 700 is the same as the sliding block of the active axial screw and nut mechanism 500. The blocks 502 are connected in the same way; the slider 502 of the active axial lead screw nut mechanism 500 is connected to the fixing plate 400 by screws below, and the linear sliding guide 601 is connected above by screws. The object plate 200 can be clamped according to the structure, shape and quantity of the workpiece.

Preferably, the camera in the gantry visual acquisition mechanism 100 is a Daheng MER-130-30UM camera, the upper computer uses an Intel(R) Core(TM) i5-4200 CPU@2.80GHz processor, the memory is 8GB, and the lower The machine uses a single-chip controller.

Preferably, the slots of the fixing plate 400 are precisely positioned with the proximity switch sensors 405 , 406 , 407 , 408 , 409 , 410 and the linear sliding guide 603 by transition fit. The proximity switch sensors 405 , 406 , 407 , 408 , 409 , 410 adopts metal proximity sensor.

Preferably, the driving motors 508 and 305 of the active axial screw nut mechanism 500 and the active radial screw nut mechanism 300 are stepping motors, and the handwheels 509 and 301 are evenly engraved with knurling.

Preferably, the screws in the linear sliding guides 601 and 603 are all countersunk screws.

Preferably, the measurement and positioning steps of the machine vision measurement slide system are as follows:

Step 1: Arrange and install the gantry vision acquisition mechanism 100 and the precision sliding table mechanism according to the measurement needs, and clamp a plurality of workpieces on the object carrier 200 as required. Zero, the radial motor driver C and the axial motor driver E drive the motors 305 and 508 to drive the lead screws 309 and 504 to rotate, and the zero-returning proximity switch sensors 406 and 409 are used to locate the zero-returning position, which is fed back to the microcontroller control system to complete the device reset. zero;

Step II: After the position of the carrier plate 200 is reset to zero, the upper computer communicates and gives the measured position coordinate data of the lower computer, and the lower computer sends commands to the radial motor driver C and the axial motor driver E, and the driving motors 305 and 508 drive the lead screw 309 , 504 rotate, the nut mechanism converts the rotation of the lead screw into the linear motion of the slider, and completes the radial and axial movement of the carrier plate 200. The proximity switch sensors 405, 407, 408, and 410 arranged on the fixed plate 400 are used to The position feedback of the object plate 200 can accurately locate the position of the workpiece and realize the precise linear motion of the axis and the radial direction; the axis and radial screw nut mechanism adopts the interpolation method, and is matched with the driven axial slider mechanism 600 and the driven radial slide mechanism. The block mechanism 700 can realize circular arc motion and perform panoramic scanning measurement of the workpiece;

Step III: If the running position is unreasonable, trigger the limit switches 401, 402, 403, 404, and immediately feedback to the single-chip control system, stop the rotation of the driving motors 508, 305, and protect the device.

Step IV: After the measurement task is completed, the single-chip control system gives a zeroing instruction, and under the positioning action of the proximity switch sensors 409 and 406, it controls the driving motors 508 and 305 to rotate, and resets the position of the carrier plate to zero, which is convenient for the next operation. .

The beneficial effects of the present invention are:

1. The present invention can precisely position and control the movement of the carrier platform of the multi-clamped workpiece to complete the workpiece scanning under the condition that the measurement position of the camera remains unchanged. Compared with the measurement method of fixing the workpiece and moving the camera, the camera parameters can be avoided. Repeated calibration problem greatly improves measurement efficiency and positioning accuracy;

2. The object carrier plate 200 of the present invention is connected with the slider 602, the slider 602 and the fixed plate 400 through the linear sliding guide rails 601 and 603, and has good flatness, which can ensure the smooth operation of the precision sliding table, and the object carrier plate 200 The fixture can be installed according to the structure and quantity of the workpiece, which is more practical for clamping;

3. The present invention is provided with proximity switch sensors 405, 406, 407, 408, 409, 410, which can accurately locate and feedback the running state of the sliding table, realize the limit and return operations, and have real-time positioning feedback capability. The limit switch 401 , 402, 403, 404 installation, can immediately power off when the running position is unreasonable, protect the precision sliding table from damage, and have the ability of self-protection of the device;

4. The rotating shafts of the driving motors 508 and 305 of the active axial screw nut mechanism 500 and the active radial screw nut mechanism 300 of the present invention are provided with handwheels 509 and 301, which can be manually adjusted according to the situation;

5. The clamping bracket of the acquisition camera of the present invention can be applied to more camera models, and the image acquisition method can be changed to monocular, binocular and structured light according to needs, and has a wider application area.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of a machine vision panoramic measurement system

Figure 2 is the overall structure of the machine vision measurement slide of a machine vision panoramic measurement system

Figure 3 is an exploded view of the overall structure of the machine vision measurement slide of a machine vision panoramic measurement system

Figure 4 is an exploded view of the axial active screw nut mechanism of a machine vision panoramic measurement system

Figure 5 is an exploded view of the radial active screw nut mechanism of a machine vision panoramic measurement system

Figure 6 is an exploded view of the driven slider structure of a machine vision panoramic measurement system

Figure 7 is a schematic diagram of the fixed plate components of a machine vision panoramic measurement system

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described below through specific embodiments shown in the accompanying drawings. It should be understood, however, that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts of the present invention.

The specific structure and embodiments of the present invention are further described below with reference to the accompanying drawings. The system composition of the present invention is as shown in Figure 1 to Figure 6, and the following scheme is adopted:

Example 1:

The structural composition of a machine vision panoramic measurement system includes: an upper computer A, a lower computer B, a radial motor driver C, a DC power supply D, an axial motor driver E, and a machine vision measurement slide table F. The upper computer A and the lower computer B program and control the radial motor driver C and the axial motor driver E to work, and the driving motor drives the object plate 200 to realize linear and circular motion, and complete the measurement task; the radial motor driver C and The axial motor driver E is powered by the DC power supply D, and receives the command from the lower computer B to drive the motor to rotate; the machine vision measurement slide F is used as the actuator of the measurement system to clamp multiple workpieces, and complete linear and arc operations according to the control commands. way of measuring tasks.

The machine vision measurement slide table F consists of a gantry visual collection mechanism 100, a carrier plate 200, an active radial screw nut mechanism 300, a fixed plate 400, an active axial screw nut mechanism 500, and a driven axial slider mechanism. 600 and the driven radial slider mechanism 700; the gantry visual acquisition mechanism 100 and the fixing plate 400 are arranged on the working platform; the active radial screw nut mechanism 300 and the active axial screw nut mechanism 500 pass through the support base 302 , 501 and the bolts on the fixing bases 308 and 505 are connected to the fixing plate 400, and the sliders 303 and 502 on the active radial screw nut mechanism 300 and the active axial screw nut mechanism 500 are connected to the fixed plate 400 through the linear sliding guide rail 603 under the sliders 303 and 502. The plate 400 is connected with screws, and the upper part is connected with the object carrier plate 200 by the linear sliding guide rail 601; The slide rail 601 is screwed to the carrier board 200 .

The active axial lead screw nut mechanism 500 is composed of a support seat 501, a slider 502, a ball nut 503, a lead screw 504, a fixed seat 505, a coupling 506, a motor seat 507, a driving motor 508 and a hand wheel 509, and drives the The motor 508 is fixed on the motor base 507 by means of screws. The motor base 507 is connected to the fixing plate 400 through the screws on the bottom surface of the fixing plate 400. The driving motor 508 drives the lead screw 504 to rotate forward and reverse through the coupling 506. 509 can manually adjust the rotation of the lead screw 504, and the nut mechanism converts the lead screw rotation into the linear motion of the slider, and cooperates with the driven axial slider mechanism 600 to realize the axial movement of the carrier plate 200.

The active radial screw and nut mechanism 300 is composed of a handwheel 301, a support base 302, a slider 303, a nut 304, a screw 309, a fixed base 308, a coupling 307, a motor base 306 and a drive motor 305. The operation mode And the connection relationship is the same as that of the active axial screw nut mechanism 500 .

The fixing plate 400 is provided with proximity switch sensors 405, 406, 407, 408, 409, and 410 for device reset and positioning control, and limit switches 401, 402, 403, and 404 for device self-control when the operating position is unreasonable. Protect.

Example 2:

In the present invention, the measurement and positioning steps of the machine vision measurement slide system are as follows:

Step 1: Arrange and install the gantry vision acquisition mechanism 100 and the precision sliding table mechanism according to the measurement needs, and clamp a plurality of workpieces on the object carrier 200 as required. Zero, the radial motor driver C and the axial motor driver E drive the motors 305 and 508 to drive the lead screws 309 and 504 to rotate, and the zero-returning proximity switch sensors 406 and 409 are used to locate the zero-returning position, which is fed back to the microcontroller control system to complete the device reset. zero;

Step II: After the position of the carrier plate 200 is reset to zero, the upper computer communicates and gives the measured position coordinate data of the lower computer, and the lower computer sends commands to the radial motor driver C and the axial motor driver E, and the driving motors 305 and 508 drive the lead screw 309 , 504 rotate, the nut mechanism converts the rotation of the lead screw into the linear motion of the slider, and completes the radial and axial movement of the carrier plate 200. The proximity switch sensors 405, 407, 408, and 410 arranged on the fixed plate 400 are used to The position feedback of the object plate 200 can accurately locate the position of the workpiece and realize the precise linear motion of the axis and the radial direction; the axis and radial screw nut mechanism adopts the interpolation method, and is matched with the driven axial slider mechanism 600 and the driven radial slide mechanism. The block mechanism 700 can realize circular arc motion and perform panoramic scanning measurement of the workpiece;

Step III: If the running position is unreasonable, trigger the limit switches 401, 402, 403, 404, and immediately feedback to the single-chip control system, stop the rotation of the driving motors 508, 305, and protect the device.

Step IV: After the measurement task is completed, the single-chip control system gives a zeroing instruction, and under the positioning action of the proximity switch sensors 409 and 406, it controls the driving motors 508 and 305 to rotate, and resets the position of the carrier plate to zero, which is convenient for the next operation. .

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. The present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various changes and improvements. These changes and modifications are within the scope of the claimed invention.

Claims (8)

1. a machine vision panorama measurement system and measuring method, it is characterized in that: comprise host computer A, lower computer B, radial motor driver C, DC power supply D, axial motor driver E, machine vision measurement slide table F and form. The host computer A selects the Intel(R) Core(TM) i5-4200CPU@2.80GHz processor and the memory is 8GB, which is used to issue control commands and display the captured images on the screen; Sensors; radial motor driver C and axial motor driver E are powered by DC power supply D, receive commands from lower computer B to drive the motor to rotate, and drive the measurement slide to measure the workpiece; machine vision measurement slide F is powered by a gantry vision acquisition mechanism 100. The carrier plate 200, the active radial screw nut mechanism 300, the fixed plate 400, the active axial screw nut mechanism 500, the driven axial slider mechanism 600 and the driven radial slider mechanism 700 are composed of a gantry frame The visual acquisition mechanism 100 is used for image acquisition, the carrier plate 200 is tightly connected with the slider of the axial screw nut mechanism 300 through the threaded hole on the linear sliding guide rail, and the active axial screw nut mechanism 500 is connected to the fixed position by bolts. On the plate 400 , the driven axial nut mechanism 600 and the driven radial nut mechanism 700 cooperate with the active axial screw nut mechanism 500 and the active radial screw nut mechanism 300 to perform synchronous movement. 2. A machine vision panorama measurement system and measurement method according to claim 1, characterized in that: the machine vision measurement slide F, including the gantry visual acquisition mechanism 100, is fastened by the gantry frame and the acquisition camera by bolts Connection, the acquisition camera can be replaced, and the gantry base is designed with through holes to be fixed on the working platform by bolts for image acquisition. 3. A machine vision panoramic measurement system and measurement method according to claim 1, characterized in that: the machine vision measurement slide table F comprises a fixing plate 400 fixed on the working platform by bolting, a limit switch 401 , 402, 403, 404 are connected to the fixing plate 400 by screws, the proximity switch sensors 405, 406, 407, 408, 409, 410 are connected and positioned by the screws in the slot of the fixing plate 400, and the linear sliding guide 603 is fixed by the screw connection. The fixing plate 400 is placed inside the slot. 4. A machine vision panoramic measurement system and measurement method according to claim 1, characterized in that: the active axial screw nut mechanism 500 of the machine vision measurement slide table F passes through the support seat 501 and the fixed seat 505. The bolts are fixed on the fixing plate 400 , the driving motor 508 in the active axial screw and nut mechanism 500 is fixed on the motor base 507 by screws, and the motor base 507 is fastened with the fixing plate 400 through the screws at the bottom of the fixing plate 400 . . 5. A machine vision panoramic measurement system and measurement method according to claim 4, characterized in that: the lead screw 504 in the active axial lead screw nut mechanism 500 is connected with the support seat 501 and the fixed seat 505 through a bearing , the left side of the lead screw is nested in the bearing of the support seat 501, and the right side is nested in the bearing of the fixed seat 505; the lead screw 504 is connected with the slider 502 through the ball nut 503, and the slider 502 is Linear sliding guides 603 are connected. 6. A machine vision panoramic measurement system and measurement method according to claim 5, wherein the right side of the lead screw 504 is connected to the left side of the rotating shaft of the drive motor 508 through the coupling 506, and the drive motor 508 rotates A handwheel 509 is installed on the right side of the shaft, which is connected by a key; the sliding block 602 on the driven shaft nut mechanism 600 is connected with the fixed plate 400 by a linear sliding guide 603; the active radial screw nut mechanism 300 is connected to the driven radial The connection manner of the screw nut mechanism 700 is the same as that of the axial screw nut mechanism 300 and the driven axial nut mechanism 600 . 7. A machine vision panoramic measurement system and measurement method according to claim 1, characterized in that: the object carrier 200 of the machine vision measurement slide table F passes through the linear sliding guide rail 601 and the active axial screw nut mechanism 500. The radial screw and nut mechanism 300, the driven axial nut mechanism 600 and the driven radial nut mechanism 700 are connected with the slider by screws. The loading plate 200 can be clamped according to the structure and shape of the workpiece, and can be clamped for many times at the same time. a workpiece. 8. a kind of machine vision panoramic measurement system and measuring method according to claim 1, is characterized in that: machine vision measurement slide table system measurement and positioning step is as follows: Step 1: Arrange and install the gantry vision acquisition mechanism 100 and the precision sliding table mechanism according to the measurement needs, and clamp a plurality of workpieces on the object carrier 200 as required. Zero, the radial motor driver C and the axial motor driver E drive the motors 305 and 508 to drive the lead screws 309 and 504 to rotate, and the zero-returning proximity switch sensors 406 and 409 are used to locate the zero-returning position, which is fed back to the microcontroller control system to complete the device reset. zero; Step II: After the position of the carrier plate 200 is reset to zero, the upper computer communicates and gives the measured position coordinate data of the lower computer, and the lower computer sends commands to the radial motor driver C and the axial motor driver E, and the driving motors 305 and 508 drive the lead screw 309 , 504 rotate, the nut mechanism converts the rotation of the lead screw into the linear motion of the slider, and completes the radial and axial movement of the carrier plate 200. The proximity switch sensors 405, 407, 408, and 410 arranged on the fixed plate 400 are used to The position feedback of the object plate 200 can accurately locate the position of the workpiece and realize the precise linear motion of the axis and the radial direction; the axis and radial screw nut mechanism adopts the interpolation method, and is matched with the driven axial slider mechanism 600 and the driven radial slide mechanism. The block mechanism 700 can realize circular arc motion and perform panoramic scanning measurement of the workpiece; Step III: If the running position is unreasonable, trigger the limit switches 401, 402, 403, 404, and immediately feedback to the single-chip control system, stop the rotation of the driving motors 508, 305, and protect the device. Step IV: After the measurement task is completed, the single-chip control system gives a zeroing instruction, and under the positioning action of the proximity switch sensors 409 and 406, it controls the driving motors 508 and 305 to rotate, and resets the position of the carrier plate to zero, which is convenient for the next operation. .

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