CN111521204B - Angular displacement visual measurement method based on absolute position rotary encoder - Google Patents

Angular displacement visual measurement method based on absolute position rotary encoder Download PDF

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CN111521204B
CN111521204B CN202010196630.6A CN202010196630A CN111521204B CN 111521204 B CN111521204 B CN 111521204B CN 202010196630 A CN202010196630 A CN 202010196630A CN 111521204 B CN111521204 B CN 111521204B
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rotary encoder
light spot
angular displacement
coordinate system
world coordinate
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CN111521204A (en
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雷经发
陈志强
孙虹
张淼
李永玲
刘涛
韦旺
何玉
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Anhui Jianzhu University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/3473—Circular or rotary encoders
    • 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
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

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Abstract

本发明提出了一种基于绝对位置旋转型编码器的角位移视觉测量方法，该方法采用边沿高度连续变化且与角度成正比关系的绝对位置旋转型编码器，用激光笔平行于旋转型编码器中心轴照射并使得激光点落在边沿上，然后采用一台已知内部参数的相机从任意角度拍摄，保证完整拍到激光点即可，接着运用图像处理技术得到激光点的像点，再根据系统标定结果和相机成像模型解算出激光点在世界坐标系下的位置，最后根据比例关系即可换算出当前此旋转型编码器旋转的角位移。本发明相比现有技术具有以下优点：该方法能够解决掉电情况下绝对角位移丢失情况，且可提供一种非接触、高分辨率、高精度的角位移测量方案。

Figure 202010196630

The invention proposes a visual measurement method of angular displacement based on an absolute position rotary encoder. The method adopts an absolute position rotary encoder whose edge height changes continuously and is proportional to the angle, and uses a laser pointer parallel to the rotary encoder. The central axis is irradiated so that the laser spot falls on the edge, and then a camera with known internal parameters is used to shoot from any angle to ensure that the laser spot is completely captured. The system calibration result and the camera imaging model calculate the position of the laser point in the world coordinate system, and finally the angular displacement of the current rotary encoder can be converted according to the proportional relationship. Compared with the prior art, the present invention has the following advantages: the method can solve the loss of absolute angular displacement in the case of power failure, and can provide a non-contact, high-resolution, high-precision angular displacement measurement solution.

Figure 202010196630

Description

Angular displacement visual measurement method based on absolute position rotary encoder
Technical Field
The invention relates to the technical field of camera calibration, in particular to an angular displacement visual measurement method of an absolute position rotary encoder.
Background
An encoder is an angular position sensing measuring device that converts a physical signal into an electrical signal that can be communicated, transmitted and stored by dividing the spatial position with a certain regular code, and can be used to measure angular or linear displacements, the former being called code wheels and the latter being called code rulers. The encoder is connected with a computer and a display device to realize dynamic measurement and real-time control, has the advantages of simple structure, high resolution, high precision, easy maintenance and the like, is widely applied to various fields of national defense, aerospace, robots, numerical control, digital display systems and the like, and has great application value.
Conventional encoders can be classified into an incremental type and an absolute type according to differences in operation principles. The coded disc of the incremental encoder has uniform coding intervals, and the principle is that collected pulse signals are accumulated relative to a reference zero position, positive rotation is performed for increasing, and negative rotation is performed for decreasing. The absolute encoder divides the code disc into a plurality of sector areas, each sector area corresponds to a unique code, so that the absolute encoder does not need to be calibrated again after power failure, and the absolute encoder has the advantages of strong anti-interference capability and the like, but the resolution of measuring angular displacement is limited by the number of the sector areas, the manufacturing process is complex, and the application range of the absolute encoder is influenced. On the other hand, the working modes of the two encoders require auxiliary equipment to convert photoelectric pulse signals into coded information for measurement, so that the resolution is limited, and a complicated equipment installation process is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an angular displacement vision measurement method of an absolute position rotary encoder, aims to solve the technical problem of recalibration of a reference zero position under the condition of power failure and restarting, and provides a non-contact high-resolution and high-precision angular displacement measurement scheme.
According to an embodiment of the present invention, the present invention provides an angular displacement vision measuring method based on an absolute position rotary encoder, comprising the steps of:
s1, constructing an angular displacement visual measurement world coordinate system based on a pre-designed absolute position rotary encoder, and acquiring first light spot data with a known height value by adopting an image acquisition device;
s2, obtaining image point coordinates (u, v) by the first light spot with known Z coordinates through least square fitting, and calibrating and solving second light spot data to calculate the coordinates of the second light spot data in a world coordinate system XY plane;
s3, fitting the image point coordinate (u) of the second light point by a least square method2,v2) Calculating the height direction data of the second light spot in the world coordinate system by combining the calibration result;
and S4, converting the absolute angular displacement of the rotary encoder into absolute angular displacement according to the proportional relation between the height and the angle to finish measurement.
Preferably, the pre-designed absolute position rotary encoder is a rotary encoder with continuously changing edge height and proportional angle, wherein the relationship between the edge height H and the angle θ is as follows:
Figure BDA0002417856830000021
in the formula, h1Is the height of the lowest edge of the rotary encoder, and the corresponding maximum angle is theta1，h2Is the height of the highest position of the edge, and the corresponding minimum angle is theta2。
Preferably, the world coordinate system is specifically: the origin O point of the world coordinate system is in the same point with the central point of the rotary encoder chassis, the XY plane of the world coordinate system is coplanar with the plane of the rotary encoder chassis, and the Z axis is parallel to the light.
Preferably, the acquiring of the first light spot data with a known height value by using the image acquisition device is to irradiate the laser pointer parallel to the central axis of the rotary encoder and make the laser spot always fall on the edge to form the first light spot data, where the height value of the first light spot data is known.
Preferably, the step S2 specifically includes:
step s201, calibrating R, T according to the linear imaging model by acquiring the first light spot data with known height value Z, as follows:
Figure BDA0002417856830000031
where ρ is a scale factor, [ x, y, z,1 [ ]]TThe homogeneous coordinate of the calibration point on the calibration plate under the world coordinate system is obtained; [ m, n,1 ]]THomogeneous coordinates of the index point image points; k is an internal parameter of the camera, wherein,
Figure BDA0002417856830000032
αu、αvscale factors on the u and v axes of the image or normalized focal length; u. of0、v0Is the geometric center of the picture;
Figure BDA0002417856830000033
wherein [ r ]1 r2 r3]A column vector of R, satisfying the following relationship:
Figure BDA0002417856830000041
in the formula, "| | | non-conducting phosphor2"represents the modulus of the vector," · "represents the vector inner product;
Figure BDA0002417856830000042
s202, calibrating the second light spot by constructing a linear equation set according to the calibration result and the camera imaging model and solving a horizontal and vertical coordinate x under the XY plane of the world coordinate systeml，ylThe values are shown below:
Figure BDA0002417856830000043
order:
Figure BDA0002417856830000044
a system of linear equations is obtained:
Figure BDA0002417856830000045
calibrating the abscissa x of the second spot according to the above formulal，ylThe value of (c).
Preferably, the fitting of the coordinates (u) of the image point of the second light point by means of a least squares method2,v2) And calculating the height direction data of the second light spot under the world coordinate system by combining the calibration result, specifically based on the horizontal and vertical coordinates xl，ylThe height value is obtained according to the following formula:
Figure BDA0002417856830000046
order:
Figure BDA0002417856830000051
Figure BDA0002417856830000052
then the following results are obtained:
Figure BDA0002417856830000053
thus, the z of the light spot is determinedpValue, wherein z of the light spotpThe value is the height value H of the edge where the second light spot is located after the rotary encoder rotates.
Preferably, said performing the measurement in terms of the proportional relationship between the height and the angle as converted into the absolute angular displacement of the rotary encoder comprises obtaining the absolute angular displacement θ as:
Figure BDA0002417856830000054
preferably, the image capturing device comprises a camera with known internal parameters.
The image acquisition device also comprises a laser pen which is used for irradiating parallel to the central shaft of the rotary encoder to acquire light spot data.
Preferably, the rotary-type encoder rotates 360 ° once.
Compared with the prior art, the invention has the following advantages: the image processing target is clear, the image point is easy and quick to obtain, and the image processing is simple and does not need a complex algorithm because only the image coordinate of the laser point needs to be obtained, so that the speed is high, and the real-time measurement can be realized; the edge height of the absolute position rotary encoder is continuously changed, so that the absolute position rotary encoder has high angular displacement measurement resolution and cannot lose absolute angular displacement after power failure; the photographic technology is applied to angular displacement measurement, and calibration is not needed to be carried out again once, so that the requirement of equipment is reduced, and a non-contact measurement method is provided, so that the interference to an object is reduced; the whole process is simple in algorithm, and the requirement of computing equipment is lowered. Compared with the existing method, the absolute position rotary encoder angular displacement measurement method based on monocular vision provided by the invention has the characteristics of non-contact, high resolution, simple calibration, absolute position and high precision, and has great practical application value.
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FIG. 1 is a flow chart of a visual measurement method of angular displacement based on an absolute position rotary encoder according to the present invention;
FIG. 2 is a schematic structural view of an angular displacement vision measuring method based on an absolute position rotary encoder according to the present invention
FIG. 3 is a schematic diagram of a coordinate system of an angular displacement vision measurement method based on an absolute position rotary encoder according to the present invention;
FIG. 4 is a diagram of an embodiment of a visual angular displacement measurement method based on an absolute position rotary encoder according to the present invention;
FIG. 5 is a diagram of a visual measurement method of angular displacement based on an absolute position rotary encoder according to another embodiment of the present invention.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Example 1
The absolute position rotary encoder angular displacement measurement operation is realized by an MATLAB platform in an M language programming mode in a Windows operating system.
The method for measuring the angular displacement of the absolute position rotary encoder mainly comprises the following four operation steps of designing the absolute position rotary encoder, enabling a laser pen to be vertical to the encoder, establishing a world coordinate system, shooting and calibrating the system by using a camera with known internal reference, extracting an image point of a light spot, measuring a height value of the light spot in the world coordinate system, converting the absolute angular displacement of the rotary encoder according to the proportional relation between the height and the angle, and completing measurement, wherein the specific steps are as follows (units which are not marked in the steps are all millimeter units):
and step S1, constructing an angular displacement vision measurement world coordinate system based on a pre-designed absolute position rotary encoder, and acquiring first light point data with a known height value by adopting an image acquisition device.
In the step, according to the purpose of the invention, an image acquisition device of the measurement system is constructed to acquire the light spot data, the image acquisition device comprises a camera with known internal parameters, and the camera with known internal parameters is used for taking photos.
In the present invention, a rotary encoder with continuously changing edge height and proportional angle relationship is designed, as shown in fig. 3, the relationship between the edge height H and the angle θ is as follows:
Figure BDA0002417856830000071
in the formula, h1Is the height of the lowest edge of the rotary encoder, and the corresponding maximum angle is theta1，h2Is the height of the highest position of the edge, and the corresponding minimum angle is theta2The rotary encoder rotates 360 degrees in one turn.
In the invention, the image acquisition device also comprises a laser pen, the laser pen is used for irradiating in parallel with the central shaft of the rotary encoder, and the light spot always falls on the edge in the measurement process, as shown in figure 4;
such a world coordinate system is established according to the designed encoder and the light of the laser pointer: the origin O point and the central point of the rotary encoder chassis are in the same point, the XY plane and the plane of the chassis are in the same plane, the Z axis is parallel to the light, then a camera with known internal parameters is used for shooting pictures by a 'facing' device, and the structure of the whole system is shown in figure 5;
and S2, obtaining coordinates (u, v) of an image point by fitting the first light point with the known Z coordinate through a least square method, and calibrating and solving the data of the second light point to calculate the coordinates of the second light point in the XY plane of the world coordinate system.
In the step, mainly the calibration of the parameters of the measurement system is performed, and specifically the following contents are included:
step S201, calibrating parameters according to a linear imaging model by acquiring first light spot data with known height value Z, specifically: by utilizing the established system and the world coordinate system, a calibration plate is firstly placed, the laser pen does not work, and system parameters R, T are calibrated according to a camera linear imaging model by taking a picture through a camera, namely as shown in the following formula:
Figure BDA0002417856830000081
where ρ is a scale factor, [ x, y, z,1 [ ]]TThe homogeneous coordinate of the calibration point on the calibration plate under the world coordinate system is obtained; [ m, n,1 ]]TIs the homogeneous coordinate of the index point image point.
K is the internal parameter of the camera and is a 3 multiplied by 3 matrix which is obtained by calibrating in advance by a Zhang-friend method
Figure BDA0002417856830000082
R, T can describe the relation between the camera coordinate system and the world coordinate system, R represents the rotation relation of the two coordinate systems and is a 3 x 3 matrixThe formula is as follows:
Figure BDA0002417856830000083
wherein, the column vector of R satisfies the following relation:
Figure BDA0002417856830000084
in the formula, "| | | non-conducting phosphor2"represents the modulus of the vector," · "represents the vector inner product;
t represents the position of the original coordinate system origin under the new coordinate system, and the specific form is as follows:
Figure BDA0002417856830000091
s202, calibrating the second light spot by constructing a linear equation set according to the calibration result and the camera imaging model and solving a horizontal and vertical coordinate x under the XY plane of the world coordinate systeml，ylThe values are shown below:
Figure BDA0002417856830000092
order:
Figure BDA0002417856830000093
a system of linear equations is obtained:
Figure BDA0002417856830000094
calibrating the horizontal and vertical coordinates x of the second light spot according to the above formulal，ylThe value of (c).
S3, fitting the image point coordinate (u) of the second light point by a least square method2,v2) And calculating the height direction data of the second light spot under the world coordinate system by combining the calibration result.
Integrating system parameters and x in coordinates under a light spot world coordinate systeml，ylThe calibration result of the value, during measurement, the rotary encoder is placed, the laser pen works, the picture is taken, and the z of the second light spot can be obtained according to the following equation and the coordinate of the image point of the obtained light spotpA value;
Figure BDA0002417856830000095
order:
Figure BDA0002417856830000101
Figure BDA0002417856830000102
the above equation is developed as:
Figure BDA0002417856830000103
thus, z of the second light spot is determinedpA value;
at this time, z of the light spotpThe value is the height value H of the edge of the current light spot after the rotation of the rotary encoder.
In an embodiment of the invention, the first spot image point coordinates (u, v) and the second spot image point coordinates (u, v)2,v2) All correspond to (x)l,yl) This is the principle of camera imaging, where a certain point is in the three-dimensional world (x)l,yl,Zl) But the coordinates of the image taken by the camera are two-dimensional, losing ZlThe value is obtained. Similarly, the x and y values of a point in the three-dimensional world coordinate are unchanged, only the z value is changed, the position of the camera is unchanged before and after the z value of the light spot is changed, and the image coordinate of the shot light spot is changed, namely the image coordinate (u, v) of the first light spot is changed to the image coordinate (u, v) of the second light spot2,v2) In the three-dimensional world, the Z value of the light spot becomes.
And S4, converting the absolute angular displacement of the rotary encoder into absolute angular displacement according to the proportional relation between the height and the angle to finish measurement.
In this step, z is calculated from this timepThe value is the height of the spot on the edge of the rotary encoder, i.e., the edge height H, so the absolute angular displacement θ is:
Figure BDA0002417856830000104
example 2
When calibrating system parameters, the specific method is as follows:
step one, calibrating a parameter R, T value:
using the angular points of the checkerboard as the calibration points, and under the established world coordinate system, in order to conveniently locate the coordinates of the calibration points, the XY plane is set according to the positions of the horizontal and vertical angular points on the checkerboard, as shown in fig. 5, so that the coordinates of each calibration point are (x)i,yi0) (i is 1,2,3, …, k), and the corresponding pixel coordinate is (m)i,ni) Then the camera linear imaging equation can be changed to the following equation:
Figure BDA0002417856830000111
order:
Figure BDA0002417856830000112
then there is the following formula:
Figure BDA0002417856830000113
taking a plurality of calibration points, namely k is more than or equal to 4, firstly constructing a linear equation set, solving a G matrix by using a least square method, and then calculating by combining the relation between column vectors of R (explained above) to obtain R, T, wherein the constructed linear equation set is as follows:
Figure BDA0002417856830000114
step two, x in the coordinate of the light spot under the world coordinate systeml，ylThe values are calibrated as follows:
taking the checkerboard away, placing the rotary encoders, making the chassis center coincide with the world coordinate system origin as much as possible, operating the laser pen, and taking the known angular displacement positions of the rotary encoders, namely the z of the coordinates of the light spot in the world coordinate systemlThe value is known, a picture is taken and the image point (m) is obtained by image processingl,nl) The calibration data combining the above step one has the following formula:
Figure BDA0002417856830000121
order:
Figure BDA0002417856830000122
there is a system of linear equations:
Figure BDA0002417856830000123
according to which the horizontal and vertical coordinates x of the light spot are calibratedl，ylThe value of (c).
The invention relates to an angular displacement vision measuring method, which applies the photographic technique to the angular displacement measurement, and firstly designs an absolute position rotary encoder with continuously changed edges, wherein the edge height and the angle are in direct proportion; then a laser pen is used for irradiating in parallel to the central shaft of the rotary encoder and enabling a laser point to fall on the edge all the time so as to form a light spot; then, shooting from any angle by adopting a calibrated digital camera, and ensuring that a light spot is shot completely; and finally, obtaining the image point of the light spot by using an image processing technology, calculating the position of the light spot under a world coordinate system according to a calibration result and a camera imaging model, and converting the rotary angular displacement of the rotary encoder according to the relation between the height and the angle. The method can solve the problem of recalibration of the reference zero position under the condition of restarting after power failure, and provides a non-contact high-resolution and high-precision angular displacement measurement scheme.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (1)

1. An angular displacement vision measurement method based on an absolute position rotary encoder is characterized by comprising the following steps:
s1, constructing an angular displacement visual measurement world coordinate system based on a pre-designed absolute position rotary encoder, and acquiring first light spot data with a known height value by adopting an image acquisition device;
the pre-designed absolute position rotary encoder is a rotary encoder with edge height continuously changing and proportional relation with angle;
the world coordinate system is specifically as follows: the origin O point of the world coordinate system and the central point of the rotary encoder chassis are in the same point, the XY plane of the world coordinate system and the plane of the rotary encoder chassis are coplanar, and the Z axis is parallel to the light;
the image acquisition device comprises a laser pen, the image acquisition device is used for acquiring first light spot data with a known height value, and specifically, the laser pen is used for irradiating in parallel to the central shaft of the rotary encoder and enabling a laser spot to always fall on an edge to form first light spot data, wherein the height value of the first light spot data is known;
s2, obtaining coordinates (u, v) of an image point by fitting a first light spot with a known Z coordinate through a least square method, calibrating and solving data of a second light spot to calculate the coordinates of the second light spot in a world coordinate system XY plane, and specifically comprising the following steps:
step s201, calibrating R, T according to the camera linear imaging model by acquiring the first light spot data with known height value Z, as follows:
Figure FDA0003180085840000011
where ρ is a scale factor, [ x, y, z,1 [ ]]TThe homogeneous coordinate of the calibration point on the calibration plate under the world coordinate system is obtained; [ m, n,1 ]]THomogeneous coordinates of the index point image points; the image acquisition device also comprises a camera with known internal parameters, wherein K is the internal parameters of the camera,
Figure FDA0003180085840000021
αu、αvscale factors on u and v axes of the image respectively; u. of0、v0Is the geometric center of the picture;
Figure FDA0003180085840000022
wherein [ r ]1 r2 r3]A column vector of R, satisfying the following relationship:
Figure FDA0003180085840000023
in the formula, "| | | non-conducting phosphor2"represents the modulus of the vector," · "represents the vector inner product;
Figure FDA0003180085840000024
s202, calibrating the second light spot by constructing a linear equation set according to the calibration result and the camera linear imaging model and solving a horizontal and vertical coordinate x under the XY plane of the world coordinate systeml，ylThe values are shown below:
Figure FDA0003180085840000025
order:
Figure FDA0003180085840000026
a system of linear equations is obtained:
Figure FDA0003180085840000031
calibrating the abscissa x of the second spot according to the above formulal，ylA value of (d);
s3, fitting the coordinates (u) of the image point of the second light point by a least square method2,v2) And calculating the height direction data of the second light spot in the world coordinate system by combining the calibration result, which specifically comprises the following steps:
based on the horizontal and vertical coordinates xl，ylThe height value is obtained according to the following formula:
Figure FDA0003180085840000032
order:
Figure FDA0003180085840000033
then the following results are obtained:
Figure FDA0003180085840000034
thus, the z of the light spot is determinedpValue, wherein z of the light spotpThe value is the height value H of the edge of the second light spot after the rotary encoder rotates, wherein the rotary encoder rotates for 360 degrees;
and S4, converting the absolute angular displacement of the rotary encoder into absolute angular displacement according to the proportional relation between the height and the angle to finish measurement.
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